occ::mults::TorqueResult Struct Reference

Result structure for torque calculations. More...

#include <torque.h>

Public Member Functions
	TorqueResult ()

Public Attributes
Vec3	force
Vec3	torque_euler
Vec3	torque_body
Vec3	torque_space
Vec3	grad_angle_axis

Detailed Description

Result structure for torque calculations.

Contains forces and torques in various representations for rigid body dynamics and optimization.

Note: For optimization using angle-axis coordinates, convert torque_euler to angle-axis gradients using RigidBodyState::angle_axis_jacobian():

grad_aa = J^T * torque_euler

where J = state.angle_axis_jacobian()

Constructor & Destructor Documentation

TorqueResult()

occ::mults::TorqueResult::TorqueResult ( )

inline

Member Data Documentation

force

Vec3 occ::mults::TorqueResult::force

grad_angle_axis

Vec3 occ::mults::TorqueResult::grad_angle_axis

torque_body

Vec3 occ::mults::TorqueResult::torque_body

torque_euler

Vec3 occ::mults::TorqueResult::torque_euler

torque_space

Vec3 occ::mults::TorqueResult::torque_space

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

• /home/runner/work/occ/occ/include/occ/mults/torque.h