Struct Robot::Variable

Defined in File robot.hpp

Nested Relationships

This struct is a nested type of Struct Robot.

Struct Documentation

struct Variable

Public Functions

auto generate_valid_value(double init_val = 0.0) const -> double: Generates a valid variable value given an optional initial value (for unbounded joints).

auto is_valid(double val) const -> bool: Returns true if a value is valid given the variable bounds.

auto clamp_to_limits(double val) const -> double: Clamps a configuration to joint limits.

Public Members

double min: Min, max, and middle position values of the variable.

double max

double mid

bool bounded: Whether the variable’s position is bounded.

double half_span: The half-span (min - max) / 2.0 of the variable, or a default value if unbounded.

double max_velocity_rcp

double minimal_displacement_factor