iDynTree::ForwardDynamicsLinearizationInternalBuffers struct

#include <iDynTree/DynamicsLinearization.h>

Constructors, destructors, conversion operators

ForwardDynamicsLinearizationInternalBuffers()

ForwardDynamicsLinearizationInternalBuffers(const Model& model)

Call resize(model);.

Public functions

void resize(const Model& model)

Resize all the buffers to the right size given the model, and reset all the buffers to 0.

Public variables

ArticulatedBodyAlgorithmInternalBuffers aba

Buffers used for computing the ABA algorithm.

std::vector<ArticulatedBodyAlgorithmInternalBuffers> dPos

Buffers used for computing the derivative of ABA with respect to the joint DOFs position.

LinkPositions linkPos

Buffers used to compute the derivative with respect to the base velocity.

std::vector<SpatialForceWrtMotionDerivative> dVb_linkBiasWrench

std::vector<Matrix1x6> dVb_u

std::vector<SpatialMotionWrtMotionDerivative> dVb_linkBiasAcceleration

std::vector<SpatialMotionWrtMotionDerivative> dVb_linksAccelerations

std::vector<SpatialForceWrtMotionDerivative> dVl_linkLocalBiasWrench

Buffer to store the derivative of the product.

std::vector<ArticulatedBodyAlgorithmInternalBuffers> dVel

Buffers used for computing the derivative of ABA with respect to the joint DOFs velocities.

Variable documentation