RigidBodyDynamics6DOF< T > Struct Template Reference

Definition of the dynamics for a 3D rigid body that can rotate about any axis. More...

#include <Models.h>

Public Types
using	InputSignalType = Vector6Signal<T>
using	StateSignalType = SE3StateSignal<T>
using	StateDotSignalType = Vector6StateSignal<T>
using	InputType = typename InputSignalType::BaseType
using	StateType = typename StateSignalType::BaseType
using	StateDotType = typename StateDotSignalType::BaseType
using	StateDotDotType = typename StateDotSignalType::TangentType
using	ParamsType = RigidBodyParams3D

Static Public Member Functions
static bool	update (StateDotSignalType &xdot, const StateSignalType &x, const InputSignalType &u, const double &t0, const double &tf, const ParamsType &params, const bool &insertIntoHistory=false, const bool &calculateXddot=false)
	Update a provided state time derivative given an input and time interval.

Detailed Description

template<typename T>
struct RigidBodyDynamics6DOF< T >

Definition of the dynamics for a 3D rigid body that can rotate about any axis.

Member Typedef Documentation

InputSignalType

template<typename T>

using RigidBodyDynamics6DOF< T >::InputSignalType = Vector6Signal<T>

InputType

template<typename T>

using RigidBodyDynamics6DOF< T >::InputType = typename InputSignalType::BaseType

ParamsType

template<typename T>

using RigidBodyDynamics6DOF< T >::ParamsType = RigidBodyParams3D

StateDotDotType

template<typename T>

using RigidBodyDynamics6DOF< T >::StateDotDotType = typename StateDotSignalType::TangentType

StateDotSignalType

template<typename T>

using RigidBodyDynamics6DOF< T >::StateDotSignalType = Vector6StateSignal<T>

StateDotType

template<typename T>

using RigidBodyDynamics6DOF< T >::StateDotType = typename StateDotSignalType::BaseType

StateSignalType

template<typename T>

using RigidBodyDynamics6DOF< T >::StateSignalType = SE3StateSignal<T>

StateType

template<typename T>

using RigidBodyDynamics6DOF< T >::StateType = typename StateSignalType::BaseType

Member Function Documentation

update()

template<typename T>

static bool RigidBodyDynamics6DOF< T >::update ( StateDotSignalType & xdot, const StateSignalType & x, const InputSignalType & u, const double & t0, const double & tf, const ParamsType & params, const bool & insertIntoHistory = false, const bool & calculateXddot = false )

inlinestatic

Update a provided state time derivative given an input and time interval.

Parameters

xdot	The state time derivative signal to update.
x	The state signal to reference for the dynamics.
u	The input signal to reference for the dynamics.
t0	The time at which to sample the state and input.
tf	The time at which to modify the state time derivative.
params	The 3D rigid body model parameters.
insertIntoHistory	Whether to insert the answer into state time derivative signal history.
calculateXddot	Whether to use finite differencing to calculate the second time derivative of the state.

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

• include/signals/Models.h