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RigidBodyTorsionalSpring Class Reference

Adds torsionals linear springs, with torque = k*(rest_angle - current_angle), to rigid body manipulators. More...

Inheritance diagram for RigidBodyTorsionalSpring:
Collaboration diagram for RigidBodyTorsionalSpring:

Public Member Functions

function computeSpatialForce (obj, manip, q, qd)
 
function updateBodyIndices (obj, map_from_old_to_new)
 
function updateForRemovedLink (obj, model, body_ind)
 
function energy (obj, manip, q, qd)
 
- 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 parent_body
 
Property child_body
 
Property rest_angle
 
Property k
 
- 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...
 

Detailed Description

Adds torsionals linear springs, with torque = k*(rest_angle - current_angle), to rigid body manipulators.

Member Function Documentation

function computeSpatialForce ( obj  ,
manip  ,
,
qd   
)
Return values
f_ext
df_ext
function energy ( obj  ,
manip  ,
,
qd   
)
Return values
T
U
static function parseURDFNode ( model  ,
name  ,
robotnum  ,
node  ,
options   
)
static
Return values
model
obj
function updateBodyIndices ( obj  ,
map_from_old_to_new   
)
Return values
obj
function updateForRemovedLink ( obj  ,
model  ,
body_ind   
)
Return values
obj

Member Data Documentation

Property child_body
Property k
Property parent_body
Property rest_angle

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