Drake
 All Classes Files Functions Variables
RigidBodyThrust Class Reference
Inheritance diagram for RigidBodyThrust:
Collaboration diagram for RigidBodyThrust:

Public Member Functions

function RigidBodyThrust (frame_id, axis, scale_factor, limits)
 
function computeSpatialForce (obj, manip, q, v)
 B_mod maps the input to generalized forces. More...
 
- Public Member Functions inherited from RigidBodyForceElement
function updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body)
 
function setInputNum (obj, input_num)
 
function energy (obj, manip, q, qd)
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Static Public Member Functions

static function parseURDFNode (model, name, robotnum, node, options)
 
- Static Public Member Functions inherited from RigidBodyForceElement
static function cartesianForceToSpatialForce (varargin)
 This method is deprecated. More...
 

Public Attributes

Property kinframe
 
Property axis
 
Property scale_factor
 amount to scale the input by. More...
 
- Public Attributes inherited from RigidBodyForceElement
Property name
 
Property direct_feedthrough_flag
 
Property input_num
 
Property input_limits
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Constructor & Destructor Documentation

function RigidBodyThrust ( frame_id  ,
axis  ,
scale_factor  ,
limits   
)
Return values
obj

Member Function Documentation

function computeSpatialForce ( obj  ,
manip  ,
,
 
)

B_mod maps the input to generalized forces.

Return values
force
B_mod
dforce
dB_mod
static function parseURDFNode ( model  ,
name  ,
robotnum  ,
node  ,
options   
)
static
Return values
model
obj

Member Data Documentation

Property axis
Property kinframe
Property scale_factor

amount to scale the input by.


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