33 #ifndef DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
37 #include <Eigen/Geometry>
122 const Eigen::Isometry3d& _T_ParentBodyToJoint =
123 Eigen::Isometry3d::Identity(),
124 const Eigen::Isometry3d& _T_ChildBodyToJoint =
125 Eigen::Isometry3d::Identity(),
126 bool _isPositionLimitEnforced =
false,
133 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
ActuatorType
Actuator type.
Definition: JointAspect.hpp:59
@ PASSIVE
Passive joint doesn't take any command input, and the output is joint acceleration.
Definition: JointAspect.hpp:72
@ FORCE
Command input is joint force, and the output is joint acceleration.
Definition: JointAspect.hpp:65
@ VELOCITY
Command input is joint velocity, and the output is joint force.
Definition: JointAspect.hpp:91
@ ACCELERATION
Command input is joint acceleration, and the output is joint force.
Definition: JointAspect.hpp:84
@ SERVO
Command input is desired velocity, and the output is joint acceleration.
Definition: JointAspect.hpp:78
@ LOCKED
Locked joint always set the velocity and acceleration to zero so that the joint dosen't move at all (...
Definition: JointAspect.hpp:98
const ActuatorType DefaultActuatorType
Definition: JointAspect.hpp:101
Definition: BulletCollisionDetector.cpp:63
Definition: JointAspect.hpp:104
virtual ~JointProperties()=default
std::string mName
Joint name.
Definition: JointAspect.hpp:106
bool mIsPositionLimitEnforced
True if the joint limits should be enforced in dynamic simulation.
Definition: JointAspect.hpp:115
ActuatorType mActuatorType
Actuator type.
Definition: JointAspect.hpp:118
Eigen::Isometry3d mT_ChildBodyToJoint
Transformation from child BodyNode to this Joint.
Definition: JointAspect.hpp:112
Eigen::Isometry3d mT_ParentBodyToJoint
Transformation from parent BodyNode to this Joint.
Definition: JointAspect.hpp:109
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)
Constructor.
Definition: Joint.cpp:59