Robotran Matlab Documentation
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MBS_invdyn Struct Reference

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?

◆ fext [2/2]

MBS_invdyn fctname user fext

Name of the user function managing the specific external forces.

Todo:
Change memberof to MBS_equil.fctname.user ? Add a link to a real function? Is it the same as MBS_equil.fctname.symb.fext?

◆ fjoint

MBS_invdyn fctname user fjoint

Name of the user function managing the joint forces.

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

◆ flink

MBS_invdyn fctname user flink

Name of the user function managing the link forces.

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

◆ flink3D

MBS_invdyn fctname user flink3D

Name of the user function managing the 3D link forces.

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

◆ gensensor

MBS_invdyn fctname symb gensensor

Name of the symbolic function 'gensensor'.

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

◆ gfext

MBS_invdyn fctname user gfext

Name of the user function managing the generic external forces.

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

◆ lambda

MBS_invdyn lambda

Array with the Lagrange multipliers related to the constraints.

◆ link

MBS_invdyn fctname symb link

Name of the symbolic function 'link'.

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

◆ link3D

MBS_invdyn fctname symb link3D

Name of the symbolic function 'link_3D'.

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

◆ mbsname

MBS_invdyn mbsname

Name of the system.

◆ opt

MBS_invdyn_opt structure containing the inverse dynamics options.

◆ out

MBS_invdyn fctname user out

Name of the user function Output.

◆ q

Array with the current values of the generalized coordinates.

◆ Qa

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

◆ Qc

Array with the current values of the driven joint forces.

◆ qd

Array with the current values of the generalized velocities.

◆ qdd

Array with the current values of the generalized accelerations.

◆ Qq

Array with the current values of the joint forces.

◆ tsim

MBS_invdyn tsim

Time value.


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