Mechanism
Mechanism
ConstrainedDynamics.Mechanism
— Typemutable struct Mechanism{T, Nn, Ne, Nb, Nf, Ni} <: ConstrainedDynamics.AbstractMechanism{T, Nn, Ne, Nb, Nf, Ni}
A Mechanism
contains the Origin
, Body
s, and EqualityConstraint
s of a system and can be used for simulation.
Important attributes
origin
: The origin of a mechanism.bodies
: The bodies of a mechanism (Dict).eqconstraints
: The equality constraints (joints) of a mechanism (Dict).Δt
: The time step of the mechanism.g
: The gravitational acceleration in z-direction.
Constuctors
Mechanism(origin, bodies; Δt, g)
Mechanism(origin, bodies, eqcs; Δt, g)
Mechanism(urdf_filename; floating, Δt, g)