All joint limits. More...

#include <mjcf-graph.hpp>

Public Member Functions
template<int Nq, int Nv>
RangeJoint	concatenate (const RangeJoint &range) const
	Concatenate 2 rangeJoint. More...

	RangeJoint ()=default

	RangeJoint (double v)

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

Public Attributes
double	armature = 0.

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 115 of file mjcf-graph.hpp.

Constructor & Destructor Documentation

◆ RangeJoint() [1/2]

pinocchio::mjcf::details::RangeJoint::RangeJoint ( )

default

◆ RangeJoint() [2/2]

pinocchio::mjcf::details::RangeJoint::RangeJoint ( double v )

inlineexplicit

Definition at line 142 of file mjcf-graph.hpp.

Member Function Documentation

◆ concatenate()

template<int Nq, int Nv>

RangeJoint pinocchio::mjcf::details::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.

Definition at line 136 of file mjcf-graph.cpp.

◆ setDimension()

template<int Nq, int Nv>

RangeJoint pinocchio::mjcf::details::RangeJoint::setDimension

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

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

Member Data Documentation

◆ armature

double pinocchio::mjcf::details::RangeJoint::armature = 0.

Definition at line 137 of file mjcf-graph.hpp.

◆ damping

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::damping

Definition at line 134 of file mjcf-graph.hpp.

◆ friction

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::friction

Definition at line 132 of file mjcf-graph.hpp.

◆ frictionLoss

double pinocchio::mjcf::details::RangeJoint::frictionLoss = 0.

Definition at line 139 of file mjcf-graph.hpp.

◆ maxConfig

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::maxConfig

Definition at line 122 of file mjcf-graph.hpp.

◆ maxEffort

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::maxEffort

Definition at line 118 of file mjcf-graph.hpp.

◆ maxVel

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::maxVel

Definition at line 120 of file mjcf-graph.hpp.

◆ minConfig

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::minConfig

Definition at line 124 of file mjcf-graph.hpp.

◆ springReference

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::springReference

Definition at line 129 of file mjcf-graph.hpp.

◆ springStiffness

Eigen::VectorXd pinocchio::mjcf::details::RangeJoint::springStiffness

Definition at line 127 of file mjcf-graph.hpp.

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

Public Member Functions

Public Attributes