Drake
BodyAcceleration Class Reference

This class holds spatial acceleration for a rigid body. More...

#include <drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics_common.h>

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Public Member Functions

 BodyAcceleration (const RigidBody< double > &body)
 Constructs a BodyAcceleration object for body. More...
 
bool is_valid () const
 
bool operator== (const BodyAcceleration &other) const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 BodyAcceleration (const BodyAcceleration &)=default
 
BodyAccelerationoperator= (const BodyAcceleration &)=default
 
 BodyAcceleration (BodyAcceleration &&)=default
 
BodyAccelerationoperator= (BodyAcceleration &&)=default
 
Accessors
const RigidBody< double > & body () const
 
const std::string & body_name () const
 
const Vector6< double > & accelerations () const
 
Vector6< double > & mutable_accelerations ()
 
void set_body (const RigidBody< double > &body)
 

Protected Attributes

const RigidBody< double > * body_
 
Vector6< doubleaccelerations_
 

Detailed Description

This class holds spatial acceleration for a rigid body.

The first three elements are angular accelerations.

Constructor & Destructor Documentation

BodyAcceleration ( const BodyAcceleration )
default
BodyAcceleration ( const RigidBody< double > &  body)
inlineexplicit

Constructs a BodyAcceleration object for body.

Parameters
bodyReference to a RigidBody, which must be valid through the lifespan of this obejct.

Member Function Documentation

const Vector6<double>& accelerations ( ) const
inline

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const RigidBody<double>& body ( ) const
inline
const std::string& body_name ( ) const
inline

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bool is_valid ( ) const
inline

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Vector6<double>& mutable_accelerations ( )
inline

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BodyAcceleration& operator= ( BodyAcceleration &&  )
default
BodyAcceleration& operator= ( const BodyAcceleration )
default
bool operator== ( const BodyAcceleration other) const
void set_body ( const RigidBody< double > &  body)
inline

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Member Data Documentation

Vector6<double> accelerations_
protected
const RigidBody<double>* body_
protected

The documentation for this class was generated from the following files: