UF_MOTION_vector_force_torque_s (查看源代码)
 
定义在: uf_motion_types.h
 
也被称为：
 
概述
Data structure definition for use with both vector forces and torques.


Data Members

name [ MAX_ENTITY_NAME_SIZE+1 ]
char
The name of the force or torque.
If NULL, a default name will be
created.

vtype
UF_MOTION_vector_type_t
Either UF_MOTION_vector_force
or UF_MOTION_vector_torque.

link
tag_t （tag_t类型）
The link that the force or torque
is acting on.

origin
tag_t （tag_t类型）
The point that defines the location
the force or torque is acting on.

direction
tag_t （tag_t类型）
The vector that defines the
orientation of the force or torque
if reference frame is
UF_MOTION_first_link. If reference
frame is UF_MOTION_absolute, this
should be NULL_TAG.

frame
UF_MOTION_reference_frame_t
The reference frame of the force
or torque: UF_MOTION_absolute means
the orientation of the force/torque
is constant with respect to the
absolute CSYS regardless of the
motion of the link.
UF_MOTION_first_link means the
orientation of the force/torque
is constant with respect to the
link CSYS and the force/torque
rotates with the link. No other
reference frames are considered.

comp_functions [ 3 ]
tag_t （tag_t类型）
For reference frame of
UF_MOTION_absolute: The functions
describing the X, Y, and Z components
of the force or torque. If there
is no force/torque along an axis,
enter a NULL_TAG.

magnitude_function
tag_t （tag_t类型）
For reference frame of
UF_MOTION_first_link: A single
function tag describing the force
or torque magnitude.

reaction_link
tag_t （tag_t类型）
The optional link that receives an
equal and opposite reaction force
or torque. If fixed to ground, this
should be NULL_TAG.