Struct MultibodyObjs#
Defined in File KModel.h
Struct Documentation#
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struct MultibodyObjs#
struct for multibody objects in use by a model
Public Members
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std::vector<kc::ks_ptr<kd::PhysicalBody>> physical_bodies#
list of physical bodies used by the model
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std::vector<kc::ks_ptr<kd::Node>> nodes#
list of physical nodes used by the model
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std::vector<kc::ks_ptr<kd::PhysicalSubhinge>> physical_subhinges#
list of physical subhinges used by the model
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std::vector<kc::ks_ptr<kd::CompoundBody>> compound_bodies#
list of compound bodies used by the model
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std::vector<kc::ks_ptr<kd::CompoundSubhinge>> compound_subhinges#
list of compound subhinges used by the model
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std::vector<kc::ks_ptr<kd::SubTree>> subtrees#
list of non-multibody subtrees used by the model
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std::vector<kc::ks_ptr<kd::PhysicalBody>> physical_bodies#