MBS inverse dynamics structure. More...

Public Attributes
MBS_invdyn	mbsname
	Name of the system. More...

MBS_invdyn	opt
	MBS_invdyn_opt structure containing the inverse dynamics options. More...

MBS_invdyn	q
	Array with the current values of the generalized coordinates. More...

MBS_invdyn	qd
	Array with the current values of the generalized velocities. More...

MBS_invdyn	qdd
	Array with the current values of the generalized accelerations. More...

MBS_invdyn	lambda
	Array with the Lagrange multipliers related to the constraints. More...

MBS_invdyn	Qq
	Array with the current values of the joint forces. More...

MBS_invdyn	Qc
	Array with the current values of the driven joint forces. More...

MBS_invdyn	Qa
	Array with the current values of the generalized forces produced by the actuators. More...

MBS_invdyn	tsim
	Time value. More...

MBS_invdyn fctname symb	constrPV
	Name of the symbolic function 'conshJ'. More...

MBS_invdyn fctname symb	constrA
	Name of the symbolic function 'cons_Jdqd'. More...

MBS_invdyn fctname symb	dyna
	Name of the symbolic function 'dirdyna' or 'invdyna'. More...

MBS_invdyn fctname symb	gensensor
	Name of the symbolic function 'gensensor'. More...

MBS_invdyn fctname symb	link
	Name of the symbolic function 'link'. More...

MBS_invdyn fctname symb	link3D
	Name of the symbolic function 'link_3D'. More...

MBS_invdyn fctname symb	fext
	Name of the symbolic function managing the specific external forces. More...

MBS_invdyn fctname user	fext
	Name of the user function managing the specific external forces. More...

MBS_invdyn fctname user	gfext
	Name of the user function managing the generic external forces. More...

MBS_invdyn fctname user	djoint
	Name of the user function managing the driven variables. More...

MBS_invdyn fctname user	fjoint
	Name of the user function managing the joint forces. More...

MBS_invdyn fctname user	flink
	Name of the user function managing the link forces. More...

MBS_invdyn fctname user	flink3D
	Name of the user function managing the 3D link forces. More...

MBS_invdyn fctname user	out
	Name of the user function Output. More...

Detailed Description

MBS inverse dynamics structure.

Member Data Documentation

◆ constrA

MBS_invdyn fctname symb constrA

Name of the symbolic function 'cons_Jdqd'.

Todo:: Add a link to a real function?

◆ constrPV

MBS_invdyn fctname symb constrPV

Name of the symbolic function 'conshJ'.

Todo:: Add a link to a real function?

◆ djoint

MBS_invdyn fctname user djoint

Name of the user function managing the driven variables.

Todo:: Change memberof to MBS_equil.fctname.symb ? Add a link to a real function?

◆ dyna

MBS_invdyn fctname symb dyna

Name of the symbolic function 'dirdyna' or 'invdyna'.

Todo:: Change memberof to MBS_equil.fctname.symb ? Add a link to a real function?

◆ fext [1/2]

MBS_invdyn fctname symb fext

Name of the symbolic function managing the specific external forces.

Todo:: Change memberof to MBS_equil.fctname.symb ? Add a link to a real function? What is the difference between the generic and the specific external forces?