MJJointReactionsMsgPayload
-
struct MJJointReactionsMsgPayload
- #include <MJJointReactionsMsgPayload.h>
Structure used by the messaging system to communicate details about the spacecraft system including the reaction forces and torques acting on the joints.
Public Members
-
std::vector<int> jointTreeIdx
[-] list of the kinematic tree index for each joint
-
std::vector<int> jointParentBodyIdx
[-] list of the parent body index for each joint
-
std::vector<int> jointTypes
[-] list of the joint types (0:free,1:ball,2:slide,3:hinge) in the system
-
std::vector<int> jointDOFStart
[-] list of the starting DOF index for each joint
-
std::vector<double> biasForces
[-] bias reaction forces and torques on the joint DOFs in the system
-
std::vector<double> passiveForces
[-] passive reaction forces and torques on the joint DOFs in the system
-
std::vector<double> constraintForces
[-] constraint reaction forces and torques on the joint DOFs in the system
-
std::vector<double> appliedForces
[-] applied reaction forces and torques on the joint DOFs in the system
-
std::vector<double> actuatorForces
[-] actuator reaction forces and torques on the joint DOFs in the system
-
std::vector<int> jointTreeIdx