RangeJoint Struct Reference

All joint limits. More...

#include <pinocchio/parsers/mjcf/mjcf-graph.hpp>

Public Member Functions
	RangeJoint (double v)
template<int Nq, int Nv>
RangeJoint	concatenate (const RangeJoint &range) const
	Concatenate 2 rangeJoint.
template<int Nq, int Nv>
RangeJoint	setDimension () const
	Set dimension to the limits to match the joint nq and nv.

Public Attributes
Eigen::VectorXd	armature
Eigen::VectorXd	damping
Eigen::VectorXd	friction
double	frictionLoss = 0.
Eigen::VectorXd	maxConfig
Eigen::VectorXd	maxEffort
Eigen::VectorXd	maxVel
Eigen::VectorXd	minConfig
Eigen::VectorXd	springReference
Eigen::VectorXd	springStiffness

Detailed Description

All joint limits.

Definition at line 116 of file mjcf-graph.hpp.

Constructor & Destructor Documentation

RangeJoint()

RangeJoint ( double  v )

inlineexplicit

Definition at line 143 of file mjcf-graph.hpp.

Member Function Documentation

concatenate()

template<int Nq, int Nv>

RangeJoint concatenate

(

const RangeJoint &

range

)

const

Concatenate 2 rangeJoint.

Template Parameters

Nq	old_range, joint configuration
Nv	old_range, joint velocity

Parameters

range

to concatenate with

Returns

Concatenated range.

setDimension()

template<int Nq, int Nv>

RangeJoint setDimension

(

)

const

Set dimension to the limits to match the joint nq and nv.

Template Parameters

Nq	joint configuration
Nv	joint velocity

Returns

Range with new dimension

Member Data Documentation

armature

Eigen::VectorXd armature

Definition at line 138 of file mjcf-graph.hpp.

damping

Eigen::VectorXd damping

Definition at line 135 of file mjcf-graph.hpp.

friction

Eigen::VectorXd friction

Definition at line 133 of file mjcf-graph.hpp.

frictionLoss

double frictionLoss = 0.

Definition at line 140 of file mjcf-graph.hpp.

maxConfig

Eigen::VectorXd maxConfig

Definition at line 123 of file mjcf-graph.hpp.

maxEffort

Eigen::VectorXd maxEffort

Definition at line 119 of file mjcf-graph.hpp.

maxVel

Eigen::VectorXd maxVel

Definition at line 121 of file mjcf-graph.hpp.

minConfig

Eigen::VectorXd minConfig

Definition at line 125 of file mjcf-graph.hpp.

springReference

Eigen::VectorXd springReference

Definition at line 130 of file mjcf-graph.hpp.

springStiffness

Eigen::VectorXd springStiffness

Definition at line 128 of file mjcf-graph.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/parsers/mjcf/mjcf-graph.hpp