Structure related to tangent matrices computations. More...

#include <mbs_data.h>

Public Attributes
double **	K
	Stiffness matrix of size [njoint+1, njoint+1]. More...

double **	G
	Damping matrix of size [njoint+1, njoint+1]. More...

double **	M
	Tangent matrix to acceleration of size [njoint+1, njoint+1]. More...

double *	dq_dp
	derivative of joint position q w.r.t. param p, vector size of [njoint+1]. More...

double *	dqd_dp
	derivative of joint velocity qd w.r.t. param p, vector size of [njoint+1]. More...

double *	dqdd_dp
	derivative of joint acceleration qdd w.r.t. param p, vector size of [njoint+1]. More...

double *	dQa_dp
	[Inverse Dynamics] derivative of Q actuated w.r.t. param p, vector size of [njoint+1]. More...

double *	dQc_dp
	Derivative of Q driven w.r.t. param p, vector size of [njoint+1]. More...

double **	dQq_dq
	The derivative matrix of the joint force vector according to the independent joint coordinates: $\frac{\partial Qq}(\partial q_u)$ . More...

double **	dQq_dqd
	The derivative matrix of the joint force vector according to the independent joint velocities: $\frac{\partial Qq}(\partial \dot{q}_u)$ . More...

double **	dQq_dqdd
	The derivative matrix of the joint force vector according to the independent joint accelerations: $\frac{\partial Qq}(\partial \ddot{q}_u)$ . More...

double *	dQq_dp
	The derivative vector of the joint force vector according to the specified parameter: $\frac{\partial Qq}(\partial p)$ . More...

double ***	dSWr_dq
	The derivative matrices of each external force MbsData::SWr vector according to the independent joint coordinates: $\frac{\partial SWr}(\partial q_u)$ . More...

double ***	dSWr_dqd
	The derivative matrices of each external force MbsData::SWr vector according to the independent joint velocities: $\frac{\partial SWr}(\partial \dot{q}_u)$ . More...

double ***	dSWr_dqdd
	The derivative matrices of each external force MbsData::SWr vector according to the independent joint accelerations: $\frac{\partial SWr}(\partial \ddot{q}_u)$ . More...

double **	dSWr_dp
	The derivative matrices of each external force MbsData::SWr vector according to the specified parameter: $\frac{\partial SWr}(\partial p)$ . More...

double ***	dSWr_link3d_dq
	The derivative matrices of each link3d MbsData::SWr vector according to the independent joint coordinates: $\frac{\partial SWr}(\partial q_u)$ . More...

double ***	dSWr_link3d_dqd
	The derivative matrices of each link3d MbsData::SWr vector according to the independent joint velocities: $\frac{\partial SWr}(\partial \dot{q}_u)$ . More...

double ***	dSWr_link3d_dqdd
	The derivative matrices of each link3d MbsData::SWr vector according to the independent joint accelerations: $\frac{\partial SWr}(\partial \ddot{q}_u)$ . More...

double **	dSWr_link3d_dp
	The derivative matrices of each link3d MbsData::SWr vector according to the specified parameter: $\frac{\partial SWr}(\partial p)$ . More...

Detailed Description

Structure related to tangent matrices computations.

Member Data Documentation

◆ dq_dp

double* dq_dp

derivative of joint position q w.r.t. param p, vector size of [njoint+1].

◆ dQa_dp

double* dQa_dp

[Inverse Dynamics] derivative of Q actuated w.r.t. param p, vector size of [njoint+1].

◆ dQc_dp

double* dQc_dp

Derivative of Q driven w.r.t. param p, vector size of [njoint+1].

◆ dqd_dp

double* dqd_dp

derivative of joint velocity qd w.r.t. param p, vector size of [njoint+1].

◆ dqdd_dp

double* dqdd_dp

derivative of joint acceleration qdd w.r.t. param p, vector size of [njoint+1].

◆ dQq_dp

double* dQq_dp

The derivative vector of the joint force vector according to the specified parameter: $\frac{\partial Qq}(\partial p)$ .

The size of the matrix is [njoint+1]. Only one parameter is considered.

◆ dQq_dq

double** dQq_dq

The derivative matrix of the joint force vector according to the independent joint coordinates: $\frac{\partial Qq}(\partial q_u)$ .

The size of the matrix is [njoint+1, njoint+1].

◆ dQq_dqd

double** dQq_dqd

The derivative matrix of the joint force vector according to the independent joint velocities: $\frac{\partial Qq}(\partial \dot{q}_u)$ .

The size of the matrix is [njoint+1, njoint+1].

◆ dQq_dqdd

double** dQq_dqdd

The derivative matrix of the joint force vector according to the independent joint accelerations: $\frac{\partial Qq}(\partial \ddot{q}_u)$ .

The size of the matrix is [njoint+1, njoint+1].

◆ dSWr_dp

double** dSWr_dp

The derivative matrices of each external force MbsData::SWr vector according to the specified parameter: $\frac{\partial SWr}(\partial p)$ .

The size of the matrix is [MbsData::Nxfrc+1, 9+1]. Only one parameter is considered.

◆ dSWr_dq

double*** dSWr_dq

The derivative matrices of each external force MbsData::SWr vector according to the independent joint coordinates: $\frac{\partial SWr}(\partial q_u)$ .

The size of the matrix is [MbsData::Nxfrc+1, njoint+1, 9+1]

◆ dSWr_dqd

double*** dSWr_dqd

The derivative matrices of each external force MbsData::SWr vector according to the independent joint velocities: $\frac{\partial SWr}(\partial \dot{q}_u)$ .

The size of the matrix is [MbsData::Nxfrc+1, njoint+1, 9+1]

◆ dSWr_dqdd

double*** dSWr_dqdd

The derivative matrices of each external force MbsData::SWr vector according to the independent joint accelerations: $\frac{\partial SWr}(\partial \ddot{q}_u)$ .

The size of the matrix is [MbsData::Nxfrc+1, njoint+1, 9+1]

◆ dSWr_link3d_dp

double** dSWr_link3d_dp

The derivative matrices of each link3d MbsData::SWr vector according to the specified parameter: $\frac{\partial SWr}(\partial p)$ .

The size of the matrix is [MbsData::Nlink3d+1, 9+1]. Only one parameter is considered.

◆ dSWr_link3d_dq

double*** dSWr_link3d_dq

The derivative matrices of each link3d MbsData::SWr vector according to the independent joint coordinates: $\frac{\partial SWr}(\partial q_u)$ .

The size of the matrix is [MbsData::Nlink3d+1, njoint+1, 9+1]

◆ dSWr_link3d_dqd

double*** dSWr_link3d_dqd

The derivative matrices of each link3d MbsData::SWr vector according to the independent joint velocities: $\frac{\partial SWr}(\partial \dot{q}_u)$ .

The size of the matrix is [MbsData::Nlink3d+1, njoint+1, 9+1]

◆ dSWr_link3d_dqdd

double*** dSWr_link3d_dqdd

The derivative matrices of each link3d MbsData::SWr vector according to the independent joint accelerations: $\frac{\partial SWr}(\partial \ddot{q}_u)$ .

The size of the matrix is [MbsData::Nlink3d+1, njoint+1, 9+1]

◆ G

double** G

Damping matrix of size [njoint+1, njoint+1].

◆ K

double** K

Stiffness matrix of size [njoint+1, njoint+1].

◆ M

double** M

Tangent matrix to acceleration of size [njoint+1, njoint+1].

This is the reduced Mass matrix, only the first MbsData::nqu rows/columns are filled.

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

mbs_common/mbs_struct/mbs_data.h

Public Attributes

Detailed Description

Member Data Documentation

◆ dq_dp

◆ dQa_dp

◆ dQc_dp

◆ dqd_dp

◆ dqdd_dp

◆ dQq_dp

◆ dQq_dq

◆ dQq_dqd

◆ dQq_dqdd

◆ dSWr_dp

◆ dSWr_dq

◆ dSWr_dqd

◆ dSWr_dqdd

◆ dSWr_link3d_dp

◆ dSWr_link3d_dq

◆ dSWr_link3d_dqd

◆ dSWr_link3d_dqdd

◆ G

◆ K

◆ M