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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Rigid Body Dynamics Library: Data Structures</title>
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<div class="title">Data Structures</div> </div>
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<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span><span onclick="javascript:toggleLevel(5);">5</span>]</div><table class="directory">
<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="dd/d16/namespace_rigid_body_dynamics.html" target="_self">RigidBodyDynamics</a></td><td class="desc">Namespace for all structures of the <a class="el" href="dd/d16/namespace_rigid_body_dynamics.html" title="Namespace for all structures of the RigidBodyDynamics library. ">RigidBodyDynamics</a> library </td></tr>
<tr id="row_0_0_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_0_0_" class="arrow" onclick="toggleFolder('0_0_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="d6/db6/namespace_rigid_body_dynamics_1_1_addons.html" target="_self">Addons</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span id="arr_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="d7/dbd/namespace_rigid_body_dynamics_1_1_addons_1_1_geometry.html" target="_self">Geometry</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span id="arr_0_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/dd0/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function__.html" target="_self">Function_</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_0_" class="even"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="de/df0/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_constant.html" target="_self">Constant</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_1_"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/dc6/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_linear.html" target="_self">Linear</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_2_" class="even"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/dff/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_polynomial.html" target="_self">Polynomial</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_3_"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d3/d54/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_sinusoid.html" target="_self">Sinusoid</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_0_4_" class="even"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d4/da5/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_step.html" target="_self">Step</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_1_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d5/d58/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_segmented_quintic_bezier_toolkit.html" target="_self">SegmentedQuinticBezierToolkit</a></td><td class="desc"></td></tr>
<tr id="row_0_0_0_2_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dc/dff/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_smooth_segmented_function.html" target="_self">SmoothSegmentedFunction</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span id="arr_0_0_1_" class="arrow" onclick="toggleFolder('0_0_1_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="dd/d32/namespace_rigid_body_dynamics_1_1_addons_1_1_muscle.html" target="_self">Muscle</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_0_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/db9/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_age_group_set.html" target="_self">AgeGroupSet</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_1_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/de5/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_anderson2007.html" target="_self">Anderson2007</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_2_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/dec/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_data_set.html" target="_self">DataSet</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_3_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/db4/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_gender_set.html" target="_self">GenderSet</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_4_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d2/dac/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_gymnast.html" target="_self">Gymnast</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_5_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/d46/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_joint_torque_set.html" target="_self">JointTorqueSet</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_6_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d37/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_millard2016_torque_muscle.html" target="_self">Millard2016TorqueMuscle</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_7_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="de/dd7/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_muscle_function_factory.html" target="_self">MuscleFunctionFactory</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_8_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d6/d84/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_subject_information.html" target="_self">SubjectInformation</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_9_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d80/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_function_factory.html" target="_self">TorqueMuscleFunctionFactory</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_10_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/da5/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_info.html" target="_self">TorqueMuscleInfo</a></td><td class="desc"></td></tr>
<tr id="row_0_0_1_11_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/d8c/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_summary.html" target="_self">TorqueMuscleSummary</a></td><td class="desc"></td></tr>
<tr id="row_0_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_0_1_" class="arrow" onclick="toggleFolder('0_1_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="d2/da0/namespace_rigid_body_dynamics_1_1_math.html" target="_self">Math</a></td><td class="desc"><a class="el" href="d2/da0/namespace_rigid_body_dynamics_1_1_math.html" title="Math types such as vectors and matrices and utility functions. ">Math</a> types such as vectors and matrices and utility functions </td></tr>
<tr id="row_0_1_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/d19/class_rigid_body_dynamics_1_1_math_1_1_quaternion.html" target="_self">Quaternion</a></td><td class="desc"><a class="el" href="d0/d19/class_rigid_body_dynamics_1_1_math_1_1_quaternion.html" title="Quaternion that are used for singularity free joints. ">Quaternion</a> that are used for <a class="el" href="df/dbe/joint_description.html#joint_singularities">singularity free</a> joints </td></tr>
<tr id="row_0_1_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/d1e/struct_rigid_body_dynamics_1_1_math_1_1_spatial_rigid_body_inertia.html" target="_self">SpatialRigidBodyInertia</a></td><td class="desc">Compact representation for Spatial Inertia </td></tr>
<tr id="row_0_1_2_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/df9/struct_rigid_body_dynamics_1_1_math_1_1_spatial_transform.html" target="_self">SpatialTransform</a></td><td class="desc">Compact representation of spatial transformations </td></tr>
<tr id="row_0_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dd2/struct_rigid_body_dynamics_1_1_body.html" target="_self">Body</a></td><td class="desc">Describes all properties of a single body </td></tr>
<tr id="row_0_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d7/de7/struct_rigid_body_dynamics_1_1_constraint_set.html" target="_self">ConstraintSet</a></td><td class="desc">Structure that contains both constraint information and workspace memory </td></tr>
<tr id="row_0_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="de/db8/struct_rigid_body_dynamics_1_1_custom_constraint.html" target="_self">CustomConstraint</a></td><td class="desc">Interface to define general-purpose constraints </td></tr>
<tr id="row_0_5_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d9/dcf/struct_rigid_body_dynamics_1_1_custom_joint.html" target="_self">CustomJoint</a></td><td class="desc"></td></tr>
<tr id="row_0_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d9/d63/struct_rigid_body_dynamics_1_1_fixed_body.html" target="_self">FixedBody</a></td><td class="desc">Keeps the information of a body and how it is attached to another body </td></tr>
<tr id="row_0_7_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/d8f/struct_rigid_body_dynamics_1_1_joint.html" target="_self">Joint</a></td><td class="desc">Describes a joint relative to the predecessor body </td></tr>
<tr id="row_0_8_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d7/d19/struct_rigid_body_dynamics_1_1_model.html" target="_self">Model</a></td><td class="desc">Contains all information about the rigid body model </td></tr>
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dd1/class_logging_guard.html" target="_self">LoggingGuard</a></td><td class="desc">Helper object to ignore any logs that happen during its lifetime </td></tr>
<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d4/d57/class_matrix3__t.html" target="_self">Matrix3_t</a></td><td class="desc"></td></tr>
<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dcc/class_spatial_matrix__t.html" target="_self">SpatialMatrix_t</a></td><td class="desc"></td></tr>
<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/d74/class_spatial_vector__t.html" target="_self">SpatialVector_t</a></td><td class="desc"></td></tr>
<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/d09/class_vector2__t.html" target="_self">Vector2_t</a></td><td class="desc"></td></tr>
<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dc/da4/class_vector3__t.html" target="_self">Vector3_t</a></td><td class="desc"></td></tr>
<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/dcd/class_vector4__t.html" target="_self">Vector4_t</a></td><td class="desc"></td></tr>
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