This struct defines a linear relation between two joint values. More...

#include <hpp/pinocchio/device.hh>

Public Attributes
value_type	offset

value_type	multiplier

JointPtr_t	joint

JointPtr_t	reference

Detailed Description

This struct defines a linear relation between two joint values.

The configuration of JointConstraint::joint is expected to be \( q_{joint} = multiplier * q_{reference} + offset\). where \(q_{reference}\) is the configuration of JointLinearConstraint::reference joint.

Member Data Documentation

◆ joint

JointPtr_t hpp::pinocchio::Device::JointLinearConstraint::joint

◆ multiplier

value_type hpp::pinocchio::Device::JointLinearConstraint::multiplier

◆ offset

value_type hpp::pinocchio::Device::JointLinearConstraint::offset

◆ reference