Struct CompoundBody::InvDynVectors

Struct CompoundBody::InvDynVectors#

Nested Relationships#

This struct is a nested type of Class CompoundBody.

Struct Documentation#

struct InvDynVectors

Struct for inverse dynamics interbody spatial force quantities for the embedded bodies.

Public Members

km::Vec f_prime

the (6 nbodies + nU) raw spatial interaction force from the outboard children bodies together with the local contribution with rigid part in their pnode deformed translational frames. We need to process this with Phi_G to get the actual inter-body spatial force for the embedded bodies.

km::Vec f

the (6 nbodies + nU) interbody spatial force for the embedded bodies with the rigid body values in the onode frame. This is Phi_G*f_prime (with rigid body parts transformed to the onode frame )

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