DART  6.7.3
dart::dynamics::Skeleton::DataCache Struct Reference

#include <Skeleton.hpp>

Public Attributes

DirtyFlags mDirty
 
std::vector< BodyNode * > mBodyNodes
 BodyNodes belonging to this tree. More...
 
std::vector< const BodyNode * > mConstBodyNodes
 Cache for const BodyNodes, for the sake of the API. More...
 
std::vector< DegreeOfFreedom * > mDofs
 Degrees of Freedom belonging to this tree. More...
 
std::vector< const DegreeOfFreedom * > mConstDofs
 Cache for const Degrees of Freedom, for the sake of the API. More...
 
Eigen::MatrixXd mM
 Mass matrix cache. More...
 
Eigen::MatrixXd mAugM
 Mass matrix for the skeleton. More...
 
Eigen::MatrixXd mInvM
 Inverse of mass matrix for the skeleton. More...
 
Eigen::MatrixXd mInvAugM
 Inverse of augmented mass matrix for the skeleton. More...
 
Eigen::VectorXd mCvec
 Coriolis vector for the skeleton which is C(q,dq)*dq. More...
 
Eigen::VectorXd mG
 Gravity vector for the skeleton; computed in nonrecursive dynamics only. More...
 
Eigen::VectorXd mCg
 Combined coriolis and gravity vector which is C(q, dq)*dq + g(q). More...
 
Eigen::VectorXd mFext
 External force vector for the skeleton. More...
 
Eigen::VectorXd mFc
 Constraint force vector. More...
 
math::SupportPolygon mSupportPolygon
 Support polygon. More...
 
std::vector< std::size_t > mSupportIndices
 A map of which EndEffectors correspond to the individual points in the support polygon. More...
 
std::pair< Eigen::Vector3d, Eigen::Vector3d > mSupportAxes
 A pair of vectors which map the 2D coordinates of the support polygon into 3D space. More...
 
math::SupportGeometry mSupportGeometry
 Support geometry – only used for temporary storage purposes. More...
 
Eigen::Vector2d mSupportCentroid
 Centroid of the support polygon. More...
 

Member Data Documentation

◆ mAugM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mAugM

Mass matrix for the skeleton.

◆ mBodyNodes

std::vector<BodyNode*> dart::dynamics::Skeleton::DataCache::mBodyNodes

BodyNodes belonging to this tree.

◆ mCg

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mCg

Combined coriolis and gravity vector which is C(q, dq)*dq + g(q).

◆ mConstBodyNodes

std::vector<const BodyNode*> dart::dynamics::Skeleton::DataCache::mConstBodyNodes

Cache for const BodyNodes, for the sake of the API.

◆ mConstDofs

std::vector<const DegreeOfFreedom*> dart::dynamics::Skeleton::DataCache::mConstDofs

Cache for const Degrees of Freedom, for the sake of the API.

◆ mCvec

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mCvec

Coriolis vector for the skeleton which is C(q,dq)*dq.

◆ mDirty

DirtyFlags dart::dynamics::Skeleton::DataCache::mDirty

◆ mDofs

std::vector<DegreeOfFreedom*> dart::dynamics::Skeleton::DataCache::mDofs

Degrees of Freedom belonging to this tree.

◆ mFc

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mFc

Constraint force vector.

◆ mFext

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mFext

External force vector for the skeleton.

◆ mG

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mG

Gravity vector for the skeleton; computed in nonrecursive dynamics only.

◆ mInvAugM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mInvAugM

Inverse of augmented mass matrix for the skeleton.

◆ mInvM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mInvM

Inverse of mass matrix for the skeleton.

◆ mM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mM

Mass matrix cache.

◆ mSupportAxes

std::pair<Eigen::Vector3d, Eigen::Vector3d> dart::dynamics::Skeleton::DataCache::mSupportAxes

A pair of vectors which map the 2D coordinates of the support polygon into 3D space.

◆ mSupportCentroid

Eigen::Vector2d dart::dynamics::Skeleton::DataCache::mSupportCentroid

Centroid of the support polygon.

◆ mSupportGeometry

math::SupportGeometry dart::dynamics::Skeleton::DataCache::mSupportGeometry

Support geometry – only used for temporary storage purposes.

◆ mSupportIndices

std::vector<std::size_t> dart::dynamics::Skeleton::DataCache::mSupportIndices

A map of which EndEffectors correspond to the individual points in the support polygon.

◆ mSupportPolygon

math::SupportPolygon dart::dynamics::Skeleton::DataCache::mSupportPolygon

Support polygon.