c_variational_state Struct Reference

A non-owning view of one maximal-coordinate callback state. More...

#include <dynamics.h>

Public Attributes
int	body_count
	Number of rigid bodies represented by the state.
double	time
	Simulation time associated with the state.
const double *	position
	World-frame center-of-mass positions, shape 3-by-body_count.
const c_quaternion *	orientation
	Body-to-world unit quaternions, length body_count.
const double *	velocity
	World-frame center-of-mass velocities, shape 3-by-body_count.
const double *	angular_velocity
	Body-frame angular velocities, shape 3-by-body_count.

Detailed Description

A non-owning view of one maximal-coordinate callback state.

Member Data Documentation

body_count

int c_variational_state::body_count

Number of rigid bodies represented by the state.

time

double c_variational_state::time

Simulation time associated with the state.

position

const double* c_variational_state::position

World-frame center-of-mass positions, shape 3-by-body_count.

orientation

const c_quaternion* c_variational_state::orientation

Body-to-world unit quaternions, length body_count.

velocity

const double* c_variational_state::velocity

World-frame center-of-mass velocities, shape 3-by-body_count.

angular_velocity

const double* c_variational_state::angular_velocity

Body-frame angular velocities, shape 3-by-body_count.

---

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

• dynamics.h