RigidBodyParams3D Struct Reference

Parameters for a 3D rigid body model. More...

#include <Models.h>

Public Member Functions
	RigidBodyParams3D ()

Public Attributes
double	m
	Model mass.
Matrix3d	J
	Moment of inertia.
Vector3d	g
	Gravitational vector.

Detailed Description

Parameters for a 3D rigid body model.

Picture a mass (not necessarily a point mass) free to move around 3D space.

Constructor & Destructor Documentation

RigidBodyParams3D()

RigidBodyParams3D::RigidBodyParams3D ( )

inline

Member Data Documentation

g

Vector3d RigidBodyParams3D::g

Gravitational vector.

Essentially defines which way is "down." Set to all zeroes if there's no gravity.

J

Matrix3d RigidBodyParams3D::J

Moment of inertia.

Moments of inertia about all three principal axes, represented as \(\boldsymbol{J}\in\mathbb{R}^{3\times 3}\).

m

double RigidBodyParams3D::m

Model mass.

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

• include/signals/Models.h