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.
virtual	~JointProperties ()=default

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