#include <JointAttributes.hpp>

Public Attributes
std::optional< std::string >	mName

JointType	mType {JointType::HINGE}

int	mGroup {0}

Eigen::Vector3d	mPos {Eigen::Vector3d::Zero()}
	Position of the joint, specified in local or global coordinates as determined by the coordinate attribute of compiler.

Eigen::Vector3d	mAxis {Eigen::Vector3d::UnitZ()}
	This attribute specifies the axis of rotation for hinge joints and the direction of translation for slide joints.

Eigen::Vector2d	mSpringDamper {Eigen::Vector2d::Zero()}

bool	mLimited {false}
	This attribute specifies if the joint has limits.

double	mStiffness {0}

Eigen::Vector2d	mRange {Eigen::Vector2d::Zero()}
	The joint limits.

double	mMargin {0}

double	mRef {0}

double	mSpringRef {0}

double	mArmature {0}

double	mDamping {0}

double	mFrictionLoss {0}

Eigen::VectorXd	mUser

Member Data Documentation

◆ mArmature

double dart::utils::MjcfParser::detail::JointAttributes::mArmature {0}

◆ mAxis

Eigen::Vector3d dart::utils::MjcfParser::detail::JointAttributes::mAxis {Eigen::Vector3d::UnitZ()}

This attribute specifies the axis of rotation for hinge joints and the direction of translation for slide joints.

It is ignored for free and ball joints.

◆ mDamping

double dart::utils::MjcfParser::detail::JointAttributes::mDamping {0}

◆ mFrictionLoss

double dart::utils::MjcfParser::detail::JointAttributes::mFrictionLoss {0}

◆ mGroup

int dart::utils::MjcfParser::detail::JointAttributes::mGroup {0}

◆ mLimited

bool dart::utils::MjcfParser::detail::JointAttributes::mLimited {false}

This attribute specifies if the joint has limits.

◆ mMargin

double dart::utils::MjcfParser::detail::JointAttributes::mMargin {0}

◆ mName

std::optional<std::string> dart::utils::MjcfParser::detail::JointAttributes::mName

◆ mPos

Eigen::Vector3d dart::utils::MjcfParser::detail::JointAttributes::mPos {Eigen::Vector3d::Zero()}

Position of the joint, specified in local or global coordinates as determined by the coordinate attribute of compiler.

For free joints this attribute is ignored.

◆ mRange

Eigen::Vector2d dart::utils::MjcfParser::detail::JointAttributes::mRange {Eigen::Vector2d::Zero()}

The joint limits.

◆ mRef

double dart::utils::MjcfParser::detail::JointAttributes::mRef {0}

◆ mSpringDamper

Eigen::Vector2d dart::utils::MjcfParser::detail::JointAttributes::mSpringDamper {Eigen::Vector2d::Zero()}

◆ mSpringRef

double dart::utils::MjcfParser::detail::JointAttributes::mSpringRef {0}

◆ mStiffness

double dart::utils::MjcfParser::detail::JointAttributes::mStiffness {0}

◆ mType

JointType dart::utils::MjcfParser::detail::JointAttributes::mType {JointType::HINGE}

◆ mUser

Eigen::VectorXd dart::utils::MjcfParser::detail::JointAttributes::mUser

Public Attributes