Collaboration diagram for dart::dynamics::Skeleton::DataCache:

Public Attributes
DirtyFlags	mDirty

std::vector< BodyNode * >	mBodyNodes
	BodyNodes belonging to this tree.

std::vector< const BodyNode * >	mConstBodyNodes
	Cache for const BodyNodes, for the sake of the API.

std::vector< DegreeOfFreedom * >	mDofs
	Degrees of Freedom belonging to this tree.

std::vector< const DegreeOfFreedom * >	mConstDofs
	Cache for const Degrees of Freedom, for the sake of the API.

Eigen::MatrixXd	mM
	Mass matrix cache.

Eigen::MatrixXd	mAugM
	Mass matrix for the skeleton.

Eigen::MatrixXd	mInvM
	Inverse of mass matrix for the skeleton.

Eigen::MatrixXd	mInvAugM
	Inverse of augmented mass matrix for the skeleton.

Eigen::VectorXd	mCvec
	Coriolis vector for the skeleton which is C(q,dq)*dq.

Eigen::VectorXd	mG
	Gravity vector for the skeleton; computed in nonrecursive dynamics only. More...

Eigen::VectorXd	mCg
	Combined coriolis and gravity vector which is C(q, dq)*dq + g(q).

Eigen::VectorXd	mFext
	External force vector for the skeleton.

Eigen::VectorXd	mFc
	Constraint force vector.

math::SupportPolygon	mSupportPolygon
	Support polygon.

std::vector< std::size_t >	mSupportIndices
	A map of which EndEffectors correspond to the individual points in the support polygon.

std::pair< Eigen::Vector3d, Eigen::Vector3d >	mSupportAxes
	A pair of vectors which map the 2D coordinates of the support polygon into 3D space.

math::SupportGeometry	mSupportGeometry
	Support geometry – only used for temporary storage purposes.

Eigen::Vector2d	mSupportCentroid
	Centroid of the support polygon.

Member Data Documentation

◆ mG

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mG

Gravity vector for the skeleton; computed in nonrecursive dynamics only.

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