Rigid bodies

The RigidBody type

RigidBodyDynamics.RigidBodyType
mutable struct RigidBody{T}

A non-deformable body.

A RigidBody has inertia (represented as a SpatialInertia), unless it represents a root (world) body. A RigidBody additionally stores a list of definitions of coordinate systems that are rigidly attached to it.

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Functions

RigidBodyDynamics.add_frame!Method
add_frame!(body, transform)


Add a new frame definition to body, represented by a homogeneous transform from the CartesianFrame3D to be added to any other frame that is already attached to body.

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RigidBodyDynamics.fixed_transformMethod
fixed_transform(body, from, to)


Return the transform from CartesianFrame3D from to to, both of which are rigidly attached to body.

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