KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
DynamicLink2D Class Reference
Inheritance diagram for DynamicLink2D:
KinematicLink2D

Public Member Functions

void GetWorldInertia (Real &inertiaWorld) const
 
void GetWorldCOM (Vector2 &comWorld) const
 
- Public Member Functions inherited from KinematicLink2D
Type GetType () const
 
void SetRotationJoint (Real w)
 
void SetTranslationJoint (const Vector2 &v)
 
void GetLocalTransform (Real qi, Frame2D &T) const
 
void GetVelocity (Real qi, Real dqi, const Vector2 &p, Vector2 &vel) const
 
void GetAngularVelocity (Real qi, Real dqi, Real &omega) const
 
void GetJacobian (Real qi, const Vector2 &p, Real &Jo, Vector2 &Jp) const
 
void GetOrientationJacobian (Vector2 &Jo) const
 
void GetPositionJacobian (Real qi, const Vector2 &p, Vector2 &Jp) const
 
void GetJacobian (Real qi, Frame2D &J) const
 
void GetJacobian (Real qi, const Frame2D &Tj_World, Frame2D &J) const
 

Public Attributes

Real mass
 
Real inertia
 
Vector2 com
 
- Public Attributes inherited from KinematicLink2D
Real w
 
Vector2 v
 
Frame2D T0_Parent
 
Frame2D T_World
 

Additional Inherited Members

- Public Types inherited from KinematicLink2D
enum  Type { TypeNone, TypeRotation, TypeTranslation, TypeCombination }
 

The documentation for this class was generated from the following file: