taoVarSpherical Class Reference
[Dynamics]

spherical joint variable class for articulated body

This provides joint variables necessary for articulated body dynamics. More...

#include <taoVar.h>

Inheritance diagram for taoVarSpherical:

[legend]Collaboration diagram for taoVarSpherical:

[legend]List of all members.

Public Attributes
deQuaternion	_Q
	joint position
deVector3	_dQ
	joint velocity in local frame
deVector3	_ddQ
	joint acceleration
deVector3	_Tau
	joint force (torque)
deVector3	_dQrotated
	joint velocity in reference (parent) frame

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Detailed Description

spherical joint variable class for articulated body

This provides joint variables necessary for articulated body dynamics.

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Member Data Documentation

deVector3 taoVarSpherical::_ddQ

joint acceleration

deVector3 taoVarSpherical::_dQ

joint velocity in local frame

deVector3 taoVarSpherical::_dQrotated

joint velocity in reference (parent) frame

deQuaternion taoVarSpherical::_Q

joint position

deVector3 taoVarSpherical::_Tau

joint force (torque)

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

• taoVar.h

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