Robotran C Documentation
mbs_sensor_struct.h
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1 //---------------------------
2 // UCL-CEREM-MBS
3 //
4 // @version MBsysLab_s 1.7.a
5 //
6 // Creation : 2006
7 // Last update : 01/10/2008
8 //---------------------------
9 //
10 // Gestion via Bugzilla :
11 // 01/10/2008 : JFC : Bug n°38
12 //
13 
14 #ifndef MBSsensorStruct_h
15 #define MBSsensorStruct_h
16 /*--------------------*/
17 
18 typedef struct MbsSensor
19 {
20  double P[4];
21  double **R;
22  double V[4];
23  double OM[4];
24  double A[4];
25  double OMP[4];
26  double JDQDT[4];
27  double JDQDR[4];
28  double **J;
29 
30 
31 } MbsSensor;
32 
33 #endif
MbsSensor::OM
double OM[4]
Angular velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor_struct.h:23
MbsSensor::V
double V[4]
Velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor_struct.h:22
MbsSensor::J
double ** J
Jacobian matrix of the sensor: .
Definition: mbs_sensor_struct.h:28
MbsSensor::R
double ** R
Rotation matrix from the inertial frame to the sensor frame: .
Definition: mbs_sensor_struct.h:21
MbsSensor::JDQDR
double JDQDR[4]
Quadratic acceleration (Jdqd) term vector (R for rotation/angular) of the sensor expressed in the ine...
Definition: mbs_sensor_struct.h:27
MbsSensor::P
double P[4]
Position vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor_struct.h:20
MbsSensor::OMP
double OMP[4]
Angular acceleration vector of the sensor expressed in the inertial frame: . Mutually exclusive with ...
Definition: mbs_sensor_struct.h:25
MbsSensor
Definition: mbs_sensor_struct.h:18
MbsSensor::JDQDT
double JDQDT[4]
Quadratic acceleration (Jdqd) term vector (T for translation) of the sensor expressed in the inertial...
Definition: mbs_sensor_struct.h:26
MbsSensor::A
double A[4]
Acceleration vector of the sensor expressed in the inertial frame: . Mutually exclusive with the comp...
Definition: mbs_sensor_struct.h:24
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