This class implements a body.
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#include <jrl/dynamics/dynamicbody.hh>
This class implements a body.
See CjrlJoint for documentation.
virtual dynamicsJRLJapan::DynamicBody::~DynamicBody |
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dynamicsJRLJapan::DynamicBody::DynamicBody |
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dynamicsJRLJapan::DynamicBody::DynamicBody |
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const DynamicBody & |
inBody | ) |
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virtual const matrix3d& dynamicsJRLJapan::DynamicBody::inertiaMatrix |
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Get Intertia matrix expressed in joint local reference frame.
Implements CjrlBody.
virtual void dynamicsJRLJapan::DynamicBody::inertiaMatrix |
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const matrix3d & |
inInertiaMatrix | ) |
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Set inertia matrix.
Implements CjrlBody.
virtual const CjrlJoint* dynamicsJRLJapan::DynamicBody::joint |
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Get const pointer to the joint the body is attached to.
Implements CjrlBody.
virtual const vector3d& dynamicsJRLJapan::DynamicBody::localCenterOfMass |
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const |
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Get position of center of mass in joint local reference frame.
Implements CjrlBody.
virtual void dynamicsJRLJapan::DynamicBody::localCenterOfMass |
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const vector3d & |
inlocalCenterOfMass | ) |
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Set postion of center of mass in joint reference frame.
Implements CjrlBody.
virtual double dynamicsJRLJapan::DynamicBody::mass |
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const |
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virtual void dynamicsJRLJapan::DynamicBody::mass |
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double |
inMass | ) |
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boost::shared_ptr<CjrlBody> dynamicsJRLJapan::DynamicBody::m_privateObj |