MJSysMassMatrixMsgPayload

struct MJSysMassMatrixMsgPayload

#include <MJSysMassMatrixMsgPayload.h>

Structure used by the messaging system to communicate details about the spacecraft system including its mass matrix.

Public Members

int nSC

[-] number of spacecraft in the system

std::vector<int> scStartIdx

[-] list of the first joint index for each spacecraft

std::vector<int> jointTypes

[-] list of the joint types (0:free,1:ball,2:slide,3:hinge) in the system

std::vector<double> massMatrix

[-] mass matrix of the system in row-major order