Struct IODataPool#
Defined in File SOADynUtils.h
Struct Documentation#
-
struct IODataPool#
Struct for passing state related to and from ModelPool
Public Members
-
Eigen::Matrix<double, MAX_DOFS, 1> Q#
the Q generalized coordinates
-
Eigen::Matrix<double, MAX_DOFS, 1> U#
the U generalized velocity coordinates
-
Eigen::Matrix<double, MAX_DOFS, 1> T#
the T generalized force coordinates
-
Eigen::Matrix<double, MAX_DOFS, 1> Udot#
the Udot generalized acceleration coordinates
-
std::array<km::SpatialForce, MAX_NODES> external_force#
the expternal spatial force values
-
Eigen::Matrix<double, MAX_DOFS, 1> Q#