Inheritance diagram for C6DBody:

Collaboration diagram for C6DBody:

Public Member Functions
	C6DBody (std::string sSimObjectName, ISimObjectCreator *pCreator)

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot, const bool bIsMajorTimeStep)
	Calculates the state derivatives. More...

virtual void	CalcDerivatives (const double adLocalForces[3], const double adLocalMoments[3], const double adGlobalForces[3], const double adGlobalMoments[3], const double adVelLocal[3], const double adOmegaLocal[3], const double adQuater[4], double adVelLocalDot[3], double adOmegaLocalDot[3], double adQuaterDot[4], double adPosGlobalDot[3])
	Calculates the state derivatives when the forces and moments are known.

Protected Member Functions
virtual const double *	Position (const double dT, const double *const adX)

virtual const double *	Velocity (const double dT, const double *const adX)

virtual const double *	Quater (const double dT, const double *const adX)

virtual const double *	LocalVel (const double dT, const double *const adX)

virtual const double *	AngVel (const double dT, const double *const adX)

Protected Attributes
ISignalPort *	m_pInMoment
	A pointer to the input moment.

ISignalPort *	m_pInForce
	A pointer to the input force.

double	m_dMass
	The mass of the object.

double	m_dGravity
	The gravitational acceleration.

double	m_adVelGlobal [3]
	The global velocity.

double	m_adDiagonalMass [6]
	The diagonal of the mass matrix, assuming all cross coupling terms to be zero.

int	m_IStatePos
	Index of the global position in the state vector.

int	m_IStateQuater
	Index of the quaternions in the state vector.

int	m_IStateLocalVel
	Index of the local velocity in the state vector.

int	m_IStateOmega
	Index of the local angular velocity in the state vector.

double	m_adBodySize [3]
	The size of the body along x-, y- and z-axis.

Member Function Documentation

◆ OdeFcn()

virtual

The documentation for this class was generated from the following file: