DART  6.10.1
dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT > Struct Template Reference

#include <GenericJointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >:
dart::dynamics::detail::GenericJointProperties< ConfigSpaceT > dart::dynamics::detail::EulerJointProperties dart::dynamics::detail::PlanarJointProperties dart::dynamics::detail::PrismaticJointProperties dart::dynamics::detail::RevoluteJointProperties dart::dynamics::detail::ScrewJointProperties dart::dynamics::detail::TranslationalJoint2DProperties dart::dynamics::detail::UniversalJointProperties

Public Types

using EuclideanPoint = typename ConfigSpaceT::EuclideanPoint
 
using Vector = typename ConfigSpaceT::Vector
 
using BoolArray = std::array< bool, NumDofs >
 
using StringArray = std::array< std::string, NumDofs >
 

Public Member Functions

 GenericJointUniqueProperties (const EuclideanPoint &positionLowerLimits=EuclideanPoint::Constant(-math::constantsd::inf()), const EuclideanPoint &positionUpperLimits=EuclideanPoint::Constant(math::constantsd::inf()), const EuclideanPoint &initialPositions=EuclideanPoint::Zero(), const Vector &velocityLowerLimits=Vector::Constant(-math::constantsd::inf()), const Vector &velocityUpperLimits=Vector::Constant(math::constantsd::inf()), const Vector &initialVelocities=Vector::Zero(), const Vector &accelerationLowerLimits=Vector::Constant(-math::constantsd::inf()), const Vector &accelerationUpperLimits=Vector::Constant(math::constantsd::inf()), const Vector &forceLowerLimits=Vector::Constant(-math::constantsd::inf()), const Vector &forceUpperLimits=Vector::Constant(math::constantsd::inf()), const Vector &springStiffness=Vector::Zero(), const EuclideanPoint &restPosition=EuclideanPoint::Zero(), const Vector &dampingCoefficient=Vector::Zero(), const Vector &coulombFrictions=Vector::Zero())
 Default constructor. More...
 
 GenericJointUniqueProperties (const GenericJointUniqueProperties &other)
 Copy constructor. More...
 
virtual ~GenericJointUniqueProperties ()=default
 
GenericJointUniquePropertiesoperator= (const GenericJointUniqueProperties &other)
 Copy assignment operator. More...
 

Public Attributes

EuclideanPoint mPositionLowerLimits
 Lower limit of position. More...
 
EuclideanPoint mPositionUpperLimits
 Upper limit of position. More...
 
EuclideanPoint mInitialPositions
 Initial positions. More...
 
Vector mVelocityLowerLimits
 Min value allowed. More...
 
Vector mVelocityUpperLimits
 Max value allowed. More...
 
Vector mInitialVelocities
 Initial velocities. More...
 
Vector mAccelerationLowerLimits
 Min value allowed. More...
 
Vector mAccelerationUpperLimits
 upper limit of generalized acceleration More...
 
Vector mForceLowerLimits
 Min value allowed. More...
 
Vector mForceUpperLimits
 Max value allowed. More...
 
Vector mSpringStiffnesses
 Joint spring stiffness. More...
 
EuclideanPoint mRestPositions
 Rest joint position for joint spring. More...
 
Vector mDampingCoefficients
 Joint damping coefficient. More...
 
Vector mFrictions
 Joint Coulomb friction. More...
 
BoolArray mPreserveDofNames
 True if the name of the corresponding DOF is not allowed to be overwritten. More...
 
StringArray mDofNames
 The name of the DegreesOfFreedom for this Joint. More...
 

Static Public Attributes

constexpr static std::size_t NumDofs = ConfigSpaceT::NumDofs
 

Member Typedef Documentation

◆ BoolArray

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::BoolArray = std::array<bool, NumDofs>

◆ EuclideanPoint

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::EuclideanPoint = typename ConfigSpaceT::EuclideanPoint

◆ StringArray

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::StringArray = std::array<std::string, NumDofs>

◆ Vector

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::Vector = typename ConfigSpaceT::Vector

Constructor & Destructor Documentation

◆ GenericJointUniqueProperties() [1/2]

template<class ConfigSpaceT >
dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::GenericJointUniqueProperties ( const EuclideanPoint positionLowerLimits = EuclideanPoint::Constant(-math::constantsd::inf()),
const EuclideanPoint positionUpperLimits = EuclideanPoint::Constant(math::constantsd::inf()),
const EuclideanPoint initialPositions = EuclideanPoint::Zero(),
const Vector velocityLowerLimits = Vector::Constant(-math::constantsd::inf()),
const Vector velocityUpperLimits = Vector::Constant(math::constantsd::inf()),
const Vector initialVelocities = Vector::Zero(),
const Vector accelerationLowerLimits = Vector::Constant(-math::constantsd::inf()),
const Vector accelerationUpperLimits = Vector::Constant(math::constantsd::inf()),
const Vector forceLowerLimits = Vector::Constant(-math::constantsd::inf()),
const Vector forceUpperLimits = Vector::Constant(math::constantsd::inf()),
const Vector springStiffness = Vector::Zero(),
const EuclideanPoint restPosition = EuclideanPoint::Zero(),
const Vector dampingCoefficient = Vector::Zero(),
const Vector coulombFrictions = Vector::Zero() 
)

Default constructor.

◆ GenericJointUniqueProperties() [2/2]

template<class ConfigSpaceT >
dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::GenericJointUniqueProperties ( const GenericJointUniqueProperties< ConfigSpaceT > &  other)

Copy constructor.

◆ ~GenericJointUniqueProperties()

template<class ConfigSpaceT >
virtual dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::~GenericJointUniqueProperties ( )
virtualdefault

Member Function Documentation

◆ operator=()

template<class ConfigSpaceT >
GenericJointUniqueProperties< ConfigSpaceT > & dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::operator= ( const GenericJointUniqueProperties< ConfigSpaceT > &  other)

Copy assignment operator.

Member Data Documentation

◆ mAccelerationLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationLowerLimits

Min value allowed.

◆ mAccelerationUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationUpperLimits

upper limit of generalized acceleration

◆ mDampingCoefficients

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDampingCoefficients

Joint damping coefficient.

◆ mDofNames

template<class ConfigSpaceT >
StringArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDofNames

The name of the DegreesOfFreedom for this Joint.

◆ mForceLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceLowerLimits

Min value allowed.

◆ mForceUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceUpperLimits

Max value allowed.

◆ mFrictions

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mFrictions

Joint Coulomb friction.

◆ mInitialPositions

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialPositions

Initial positions.

◆ mInitialVelocities

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialVelocities

Initial velocities.

◆ mPositionLowerLimits

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionLowerLimits

Lower limit of position.

◆ mPositionUpperLimits

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionUpperLimits

Upper limit of position.

◆ mPreserveDofNames

template<class ConfigSpaceT >
BoolArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPreserveDofNames

True if the name of the corresponding DOF is not allowed to be overwritten.

◆ mRestPositions

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mRestPositions

Rest joint position for joint spring.

◆ mSpringStiffnesses

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mSpringStiffnesses

Joint spring stiffness.

◆ mVelocityLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityLowerLimits

Min value allowed.

◆ mVelocityUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityUpperLimits

Max value allowed.

◆ NumDofs

template<class ConfigSpaceT >
constexpr std::size_t dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::NumDofs = ConfigSpaceT::NumDofs
staticconstexpr