jspace/jspace/Model.cpp File Reference

Author:

Roland Philippsen, inspired by wbc/core code of Luis Sentis

More...

#include "Model.hpp"
#include "tao_util.hpp"
#include <tao/dynamics/taoNode.h>
#include <tao/dynamics/taoJoint.h>
#include <tao/dynamics/taoDynamics.h>

Include dependency graph for Model.cpp:

Go to the source code of this file.

Namespaces
namespace	jspace
Functions
static deVector3 const	zero_gravity (0, 0, 0)
static deVector3 const	earth_gravity (0, 0,-9.81)
size_t	squareToTriangularIndex (size_t irow, size_t icol, size_t dim)

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Detailed Description

Author:

Roland Philippsen, inspired by wbc/core code of Luis Sentis

Definition in file Model.cpp.

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Function Documentation

static deVector3 const earth_gravity	(	0	,
		0	,
		-9.	81
	)			[static]

Referenced by jspace::Model::computeGravity().

size_t squareToTriangularIndex	(	size_t	irow,
		size_t	icol,
		size_t	dim
	)

Definition at line 40 of file Model.cpp.

Referenced by jspace::Model::computeInverseMassInertia(), jspace::Model::computeMassInertia(), jspace::Model::getInverseMassInertia(), and jspace::Model::getMassInertia().

static deVector3 const zero_gravity	(	0	,
		0	,
		0
	)			[static]

Referenced by jspace::Model::computeCoriolisCentrifugal(), jspace::Model::computeInverseMassInertia(), and jspace::Model::computeMassInertia().

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