Esempi in C++ (Cpp) per MobilizedBody::findMobilizerReactionOnBodyAtMInGround

Esempio n. 1

File: GazeboReactionForceWithAppliedForceRigid.cpp Progetto: AyMaN-GhOsT/simbody

//==============================================================================
//                            GET REACTION PAIR
//==============================================================================
static ReactionPair getReactionPair(const State&         state,
                                    const MobilizedBody& mobod) 
{
    SpatialVec p = mobod.findMobilizerReactionOnParentAtFInGround(state);
    SpatialVec c = mobod.findMobilizerReactionOnBodyAtMInGround(state);
    const Rotation& R_GC = mobod.getBodyRotation(state);
    const Rotation& R_GP = mobod.getParentMobilizedBody().getBodyRotation(state);
    ReactionPair pair;
    pair.reactionOnChildInChild   = ~R_GC*c; // from Ground to Child
    pair.reactionOnParentInParent = ~R_GP*p; // from Ground to Parent
    return pair;
}