#include <GenericJointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >:

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.

	GenericJointUniqueProperties (const GenericJointUniqueProperties &other)
	Copy constructor.

virtual	~GenericJointUniqueProperties ()=default

GenericJointUniqueProperties &	operator= (const GenericJointUniqueProperties &other)
	Copy assignment operator.

Public Attributes
EuclideanPoint	mPositionLowerLimits
	Lower limit of position.

EuclideanPoint	mPositionUpperLimits
	Upper limit of position.

EuclideanPoint	mInitialPositions
	Initial positions.

Vector	mVelocityLowerLimits
	Min value allowed.

Vector	mVelocityUpperLimits
	Max value allowed.

Vector	mInitialVelocities
	Initial velocities.

Vector	mAccelerationLowerLimits
	Min value allowed.

Vector	mAccelerationUpperLimits
	upper limit of generalized acceleration

Vector	mForceLowerLimits
	Min value allowed.

Vector	mForceUpperLimits
	Max value allowed.

Vector	mSpringStiffnesses
	Joint spring stiffness.

EuclideanPoint	mRestPositions
	Rest joint position for joint spring.

Vector	mDampingCoefficients
	Joint damping coefficient.

Vector	mFrictions
	Joint Coulomb friction.

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

StringArray	mDofNames
	The name of the DegreesOfFreedom for this Joint.

Static Public Attributes
static constexpr 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.