c_rigid_body Struct Reference

Rigid-body mass properties for direct variational integration. More...

#include <dynamics.h>

Public Attributes
double	mass
	Body mass.
double	cg [3]
	Center-of-gravity position expressed in the body frame.
double	inertia [9]
	Body-frame 3-by-3 inertia tensor in column-major storage.

Detailed Description

Rigid-body mass properties for direct variational integration.

Member Data Documentation

mass

double c_rigid_body::mass

Body mass.

Must be positive.

cg

double c_rigid_body::cg[3]

Center-of-gravity position expressed in the body frame.

inertia

double c_rigid_body::inertia[9]

Body-frame 3-by-3 inertia tensor in column-major storage.

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

• dynamics.h