Module: MJFwdKinematics

class MJFwdKinematics : public SysModel

#include <MJFwdKinematics.h>

Model that computes the forward kinematics of an MJScene

The state of an MJScene is given by the minimal coordinates of the system (i.e. joint angles). A ‘forward kinematics’ computation uses these minimal coordinates to compute the position, velocity, attitude, and angular velocity of all bodies, frames, etc. of the system.

Public Functions

inline MJFwdKinematics(MJScene &scene)

Constructor for MJFwdKinematics.

Parameters:

scene – Reference to an MJScene object.

inline void UpdateState(uint64_t CurrentSimNanos)

Computes the forward kinematics for the scene associated with this model.

Parameters:

CurrentSimNanos – Current simulation time in nanoseconds.

Public Static Functions

static void fwdKinematics(MJScene &scene, uint64_t CurrentSimNanos)

Computes the forward kinematics for the given scene.

Parameters:

• scene – Reference to an MJScene object.

• CurrentSimNanos – Current simulation time in nanoseconds.

Protected Attributes

MJScene &scene

Reference to the MJScene object.