RigidBodyForceElement Class Reference

RigidBodyForceElement. More...

#include <drake/systems/plants/RigidBodySystem.h>

Inheritance diagram for RigidBodyForceElement:

Collaboration diagram for RigidBodyForceElement:

Public Member Functions
	RigidBodyForceElement (RigidBodySystem &sys, const std::string &name)
virtual	~RigidBodyForceElement ()
virtual size_t	getNumInputs () const
virtual Eigen::VectorXd	output (const double &t, const Eigen::VectorXd &u, const KinematicsCache< double > &rigid_body_state) const =0

Protected Attributes
RigidBodySystem &	sys
std::string	name

Detailed Description

RigidBodyForceElement.

interface class for elements which define a generalized force acting on the rigid body system

Constructor & Destructor Documentation

RigidBodyForceElement ( RigidBodySystem &  sys, const std::string &  name  )

inline

virtual ~RigidBodyForceElement ( )

inlinevirtual

Member Function Documentation

virtual size_t getNumInputs ( void  ) const

inlinevirtual

Reimplemented in RigidBodyPropellor.

virtual Eigen::VectorXd output ( const double &  t, const Eigen::VectorXd &  u, const KinematicsCache< double > &  rigid_body_state  ) const

pure virtual

Implemented in RigidBodySpringDamper, and RigidBodyPropellor.

Member Data Documentation

std::string name

protected

RigidBodySystem& sys

protected

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

• drake/systems/plants/RigidBodySystem.h