This structure contains all informations about a body. More...

#include <mbs_binder_public.h>

Public Attributes
char *	name
	Name of the body. More...

MbsInfoRefPoint *	point_parent
	Description of the parent point of the current body. (NULL if it is a parent joint) More...

char *	joint_parent
	parent joint of the current body (NULL if it is a parent point) More...

int	n_joint
	Number of joints leaving the body. More...

MbsInfoJoint **	joint_list
	Array of pointers to the MDS_joint_strct describing each joint leaving the body. More...

double	mass
	Mass of the body. More...

double *	com
	Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the body expressed in the body frame. More...

double *	inertia
	Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of mass expressed in the body frame. More...

int	n_point
	Number of point defined on the body. More...

MbsInfoPoint **	point_list
	Array of pointers to the MDS_point_strct describing each point of current body. More...

Detailed Description

This structure contains all informations about a body.

Member Data Documentation

◆ com

double* com

Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the body expressed in the body frame.

◆ inertia

double* inertia

Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of mass expressed in the body frame.

◆ joint_list

MbsInfoJoint** joint_list

Array of pointers to the MDS_joint_strct describing each joint leaving the body.

◆ joint_parent

char* joint_parent

parent joint of the current body (NULL if it is a parent point)

◆ mass

double mass

Mass of the body.

◆ n_joint

int n_joint

Number of joints leaving the body.

◆ n_point

int n_point

Number of point defined on the body.

◆ name

char* name

Name of the body.

◆ point_list

MbsInfoPoint** point_list

Array of pointers to the MDS_point_strct describing each point of current body.

◆ point_parent

MbsInfoRefPoint* point_parent

Description of the parent point of the current body. (NULL if it is a parent joint)

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

mbs_common/mbs_load_xml/mbs_binder_public.h

Public Attributes