c_mechanism_link Struct Reference

A multi-frame link used by a closed-loop mechanism. More...

#include <dynamics.h>

Public Attributes
int	frame_count
	Number of frames attached to the link.
double *	frames
	4-by-4-by-frame_count frame transforms in column-major storage.
double	mass
	Link mass.
double	cg [3]
	Center-of-gravity position in the link frame.
double	inertia [9]
	3-by-3 inertia matrix in column-major storage.

Detailed Description

A multi-frame link used by a closed-loop mechanism.

Member Data Documentation

frame_count

int c_mechanism_link::frame_count

Number of frames attached to the link.

frames

double* c_mechanism_link::frames

4-by-4-by-frame_count frame transforms in column-major storage.

mass

double c_mechanism_link::mass

Link mass.

cg

double c_mechanism_link::cg[3]

Center-of-gravity position in the link frame.

inertia

double c_mechanism_link::inertia[9]

3-by-3 inertia matrix in column-major storage.

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

• dynamics.h