DART  6.7.3
dart::dynamics::detail::JointProperties Struct Reference

#include <JointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::JointProperties:
dart::dynamics::Joint::ExtendedProperties dart::dynamics::ZeroDofJoint::Properties dart::dynamics::detail::GenericJointProperties< ConfigSpaceT > dart::dynamics::WeldJoint::Properties dart::dynamics::detail::EulerJointProperties dart::dynamics::detail::PlanarJointProperties dart::dynamics::detail::PrismaticJointProperties dart::dynamics::detail::RevoluteJointProperties dart::dynamics::detail::ScrewJointProperties dart::dynamics::detail::TranslationalJoint2DProperties dart::dynamics::detail::UniversalJointProperties

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 limits should be enforced in dynamic simulation. More...
 
ActuatorType mActuatorType
 Actuator type. More...
 
const JointmMimicJoint
 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 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.