This structure contains all information about an external force sensor defined on the MBS structure. More...

#include <mbs_binder_public.h>

Public Attributes
char *	name

MbsInfoRefPoint *	parent_point
	parent point of the sensor (NULL if it is a parent joint) More...

char *	joint_parent
	parent joint of the current body (should be always NULL, if it is a parent point) ExtForce on a joint is not supported (ST-18/9/2023) More...

int	Pos
	1 if the computation of the sensor position has been asked, 0 otherwise. More...

int	Rot
	1 if the computation of the sensor rotation matrix has been asked, 0 otherwise. More...

int	Vit
	1 if the computation of the sensor linear velocity has been asked, 0 otherwise. More...

int	Om
	1 if the computation of the sensor angular velocity has been asked, 0 otherwise. More...

int	Acc
	1 if the computation of the sensor linear acceleration has been asked, 0 otherwise. Mutually exclusive with Jdqd below More...

int	Jdqd
	1 if the computation of the sensor jdqd term has been asked, 0 otherwise. Mutually exclusive with Acc above More...

int	Omp
	1 if the computation of the sensor angular acceleration has been asked, 0 otherwise. More...

int	Jac
	1 if the computation of the sensor Jacobian ( $\frac{dV_{sens}}{d\dot{q}}$ ) has been asked, 0 otherwise. More...

Detailed Description

This structure contains all information about an external force sensor defined on the MBS structure.

Member Data Documentation

◆ Acc

int Acc

1 if the computation of the sensor linear acceleration has been asked, 0 otherwise. Mutually exclusive with Jdqd below

◆ Jac

int Jac

1 if the computation of the sensor Jacobian ( $\frac{dV_{sens}}{d\dot{q}}$ ) has been asked, 0 otherwise.

◆ Jdqd

int Jdqd

1 if the computation of the sensor jdqd term has been asked, 0 otherwise. Mutually exclusive with Acc above

◆ joint_parent

char* joint_parent

parent joint of the current body (should be always NULL, if it is a parent point) ExtForce on a joint is not supported (ST-18/9/2023)

◆ name

char* name

◆ Om

int Om

1 if the computation of the sensor angular velocity has been asked, 0 otherwise.

◆ Omp

int Omp

1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.

◆ parent_point

MbsInfoRefPoint* parent_point

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

◆ Pos

int Pos

1 if the computation of the sensor position has been asked, 0 otherwise.

◆ Rot

int Rot

1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.

◆ Vit

int Vit

1 if the computation of the sensor linear velocity has been asked, 0 otherwise.

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

mbs_common/mbs_load/mbs_binder_public.h

Public Attributes