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. More...
template<int Nq, int Nv>
RangeJoint	setDimension () const
	Set dimension to the limits to match the joint nq and nv. More...

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.

Member Function Documentation

concatenate()

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()

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

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

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