Class  Description 

ContactInfo  
CylindricalCoupling 
Implements a one DOF cylindrical coupling.

EllipsoidCoupling 
Constrains a coordinate frame to the surface of an ellipsoid, together with
two additional degrees of rotational freedom.

EllipsoidCoupling3d 
Constraints a rigid body to 2D motion (with rotation) on the surface of an
ellipsoid.

EllipsoidCoupling3dTest  
EllipsoidCouplingTest  
EulerFilter  
FixedAxisCoupling 
Implements a fixed axis coupling  which is a rollpitch coupling with no
translational constraint and no joint limits.

FreeCoupling 
Implements a six DOF coupling that allows complete motion in space, but with
translational and rotational limits.

FrictionInfo 
Contains information for a single friction constraint set.

FullPlanarCoupling 
Constraints a rigid body to 2D motion (with rotation) in a plane.

GimbalCoupling 
Implements a three DOF spherical coupling, parameterized by roll, pitch and
yaw angles.

GimbalCouplingTest  
HingeCoupling 
Implements a one DOF revolute coupling.

PlanarCoupling  
PlanarTranslationCoupling 
Constraints a rigid body to 2D translational motion (without rotation) in a
plane.

RigidBodyConstraint 
Contains information about individual constraints between rigid bodies
which are used to enforce the couplings implemented by subclasses of
RigidBodyCoupling . 
RigidBodyCoupling 
Base class for the mechanism to enforce constraints between two rigid frame
C and D.

SegmentedPlanarCoupling  
SliderCoupling 
Implements a one DOF prismatic coupling.

SlottedHingeCoupling 
Implements a one DOF revolute coupling.

SolidCoupling 
Implements a solid coupling in which one rigid body is solidly
connected to another, with no degrees of freedom.

SpatialInertia 
Spatial inertia used to compute the dynamics of a rigid body.

SpatialVector 
A spatial vector, which is a 6vector composed of two 3vectors: a free
vector and a line vector.

SphericalCoupling 
Implements a three DOF spherical coupling.

Twist 
A spatial vector that represents a spatial velocity, comprised of a
translation velocity v and an angular velocity w.

TwistTest  
UniversalCoupling 
Implements a two DOF universal coupling, parameterized by roll and pitch
angles.

UniversalCouplingTest  
Wrench 
A spatial vector that represents a spatial force, comprised of a translation
force f and a moment m.

Enum  Description 

GimbalCoupling.AxisSet  
RigidBodyConstraint.MotionType 
Describes the type of motion restricted by this constraint.

UniversalCoupling.AxisSet 