dart::dynamics::detail::JointProperties Struct Reference

#include <JointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::JointProperties:

Public Member Functions
	JointProperties (const std::string &_name="Joint", const Eigen::Isometry3d &_T_ParentBodyToJoint=Eigen::Isometry3d::Identity(), const Eigen::Isometry3d &_T_ChildBodyToJoint=Eigen::Isometry3d::Identity(), bool _isPositionLimitEnforced=false, ActuatorType _actuatorType=DefaultActuatorType, const Joint *_mimicJoint=nullptr, double _mimicMultiplier=1.0, double _mimicOffset=0.0)
	Constructor. More...
virtual	~JointProperties ()=default

Public Attributes
std::string	mName
	Joint name. More...
Eigen::Isometry3d	mT_ParentBodyToJoint
	Transformation from parent BodyNode to this Joint. More...
Eigen::Isometry3d	mT_ChildBodyToJoint
	Transformation from child BodyNode to this Joint. More...
bool	mIsPositionLimitEnforced
	True if the joint position or velocity limits should be enforced in dynamic simulation. More...
ActuatorType	mActuatorType
	Actuator type. More...
const Joint *	mMimicJoint
	Mimic joint. More...
double	mMimicMultiplier
	Mimic joint properties. More...
double	mMimicOffset

Constructor & Destructor Documentation

JointProperties()

dart::dynamics::detail::JointProperties::JointProperties	(	const std::string &	_name = "Joint",
		const Eigen::Isometry3d &	_T_ParentBodyToJoint = Eigen::Isometry3d::Identity(),
		const Eigen::Isometry3d &	_T_ChildBodyToJoint = Eigen::Isometry3d::Identity(),
		bool	_isPositionLimitEnforced = false,
		ActuatorType	_actuatorType = DefaultActuatorType,
		const Joint *	_mimicJoint = nullptr,
		double	_mimicMultiplier = 1.0,
		double	_mimicOffset = 0.0
	)

Constructor.

~JointProperties()

virtual dart::dynamics::detail::JointProperties::~JointProperties ( )

virtualdefault

Member Data Documentation

mActuatorType

ActuatorType dart::dynamics::detail::JointProperties::mActuatorType

Actuator type.

mIsPositionLimitEnforced

bool dart::dynamics::detail::JointProperties::mIsPositionLimitEnforced

True if the joint position or velocity limits should be enforced in dynamic simulation.

mMimicJoint

const Joint* dart::dynamics::detail::JointProperties::mMimicJoint

Mimic joint.

mMimicMultiplier

double dart::dynamics::detail::JointProperties::mMimicMultiplier

Mimic joint properties.

mMimicOffset

double dart::dynamics::detail::JointProperties::mMimicOffset

mName

std::string dart::dynamics::detail::JointProperties::mName

Joint name.

mT_ChildBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ChildBodyToJoint

Transformation from child BodyNode to this Joint.

mT_ParentBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ParentBodyToJoint

Transformation from parent BodyNode to this Joint.