Robotran C Documentation
Public Attributes | List of all members
MbsSensor Struct Reference

#include <mbs_sensor_struct.h>

Public Attributes

double P [4]
 Position vector of the sensor expressed in the inertial frame: $P(1:3)=[P_x; P_y; P_z]$. More...
 
double ** R
 Rotation matrix from the inertial frame to the sensor frame: $[\hat{\mathbf{X}}^S]=R(1:3,1:3).[\hat{\mathbf{X}}^0]$. More...
 
double V [4]
 Velocity vector of the sensor expressed in the inertial frame: $V(1:3)=[V_x; V_y; V_z]$. More...
 
double OM [4]
 Angular velocity vector of the sensor expressed in the inertial frame: $OM(1:3)=[\omega_x; \omega_y; \omega_z]$. More...
 
double A [4]
 Acceleration vector of the sensor expressed in the inertial frame: $A(1:3)=[A_x; A_y; A_z]$. Mutually exclusive with the computation of JDQDT and JDQDR below. More...
 
double OMP [4]
 Angular acceleration vector of the sensor expressed in the inertial frame: $OMP(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]$. Mutually exclusive with the computation of JDQDT and JDQDR below. More...
 
double JDQDT [4]
 Quadratic acceleration (Jdqd) term vector (T for translation) of the sensor expressed in the inertial frame. Mutually exclusive with the computation of A and Omp above. More...
 
double JDQDR [4]
 Quadratic acceleration (Jdqd) term vector (R for rotation/angular) of the sensor expressed in the inertial frame. Mutually exclusive with the computation of A and Omp above. More...
 
double ** J
 Jacobian matrix of the sensor: $J(1:6,1:njoint)=\begin{bmatrix}\frac{\partial V}{\partial \dot q^T} \\ \frac{\partial OM}{\partial \dot q^T}\end{bmatrix}$. More...
 

Member Data Documentation

◆ A

double A[4]

Acceleration vector of the sensor expressed in the inertial frame: $A(1:3)=[A_x; A_y; A_z]$. Mutually exclusive with the computation of JDQDT and JDQDR below.

◆ J

double** J

Jacobian matrix of the sensor: $J(1:6,1:njoint)=\begin{bmatrix}\frac{\partial V}{\partial \dot q^T} \\ \frac{\partial OM}{\partial \dot q^T}\end{bmatrix}$.

◆ JDQDR

double JDQDR[4]

Quadratic acceleration (Jdqd) term vector (R for rotation/angular) of the sensor expressed in the inertial frame. Mutually exclusive with the computation of A and Omp above.

◆ JDQDT

double JDQDT[4]

Quadratic acceleration (Jdqd) term vector (T for translation) of the sensor expressed in the inertial frame. Mutually exclusive with the computation of A and Omp above.

◆ OM

double OM[4]

Angular velocity vector of the sensor expressed in the inertial frame: $OM(1:3)=[\omega_x; \omega_y; \omega_z]$.

◆ OMP

double OMP[4]

Angular acceleration vector of the sensor expressed in the inertial frame: $OMP(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]$. Mutually exclusive with the computation of JDQDT and JDQDR below.

◆ P

double P[4]

Position vector of the sensor expressed in the inertial frame: $P(1:3)=[P_x; P_y; P_z]$.

◆ R

double** R

Rotation matrix from the inertial frame to the sensor frame: $[\hat{\mathbf{X}}^S]=R(1:3,1:3).[\hat{\mathbf{X}}^0]$.

◆ V

double V[4]

Velocity vector of the sensor expressed in the inertial frame: $V(1:3)=[V_x; V_y; V_z]$.

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