JointData Struct Reference

Temporary storage for basic joint information. More...

#include <chain.h>

Public Member Functions
	JointData ()
	JointData (const char *_name, const char *_parent_name, JointType _j_type, const fVec3 &_rpos, const fMat33 &_ratt, AxisIndex _axis_index, double _mass, const fMat33 &_inertia, const fVec3 &_com, int _t_given=true)
	JointData (const JointData &ref)
	~JointData ()

Public Attributes
AxisIndex	axis_index
	direction of the joint axis (only for 1DOF joints) More...
fVec3	com
	link center of mass in local frame More...
fMat33	inertia
	link inertia More...
JointType	j_type
	joint type More...
double	mass
	link mass More...
char *	name
	joint name More...
char *	parent_name
	parent joint's name More...
fMat33	rel_att
	initial orientation in parent joint's frame More...
fVec3	rel_pos
	initial position in parent joint's frame More...
int	t_given
	if true, the joint is torque controlled, otherwise position controlled (high-gain control) More...

Detailed Description

Temporary storage for basic joint information.

Definition at line 61 of file chain.h.

Constructor & Destructor Documentation

JointData::JointData ( )

inline

Definition at line 63 of file chain.h.

JointData::JointData ( const char *  _name, const char *  _parent_name, JointType  _j_type, const fVec3 &  _rpos, const fMat33 &  _ratt, AxisIndex  _axis_index, double  _mass, const fMat33 &  _inertia, const fVec3 &  _com, int  _t_given = true  )

inline

Definition at line 75 of file chain.h.

JointData::JointData ( const JointData &  ref )

inline

Definition at line 100 of file chain.h.

JointData::~JointData ( )

inline

Definition at line 123 of file chain.h.

Member Data Documentation

AxisIndex JointData::axis_index

direction of the joint axis (only for 1DOF joints)

Definition at line 133 of file chain.h.

fVec3 JointData::com

link center of mass in local frame

Definition at line 136 of file chain.h.

fMat33 JointData::inertia

link inertia

Definition at line 135 of file chain.h.

JointType JointData::j_type

joint type

Definition at line 130 of file chain.h.

double JointData::mass

link mass

Definition at line 134 of file chain.h.

char* JointData::name

joint name

Definition at line 128 of file chain.h.

char* JointData::parent_name

parent joint's name

Definition at line 129 of file chain.h.

fMat33 JointData::rel_att

initial orientation in parent joint's frame

Definition at line 132 of file chain.h.

fVec3 JointData::rel_pos

initial position in parent joint's frame

Definition at line 131 of file chain.h.

int JointData::t_given

if true, the joint is torque controlled, otherwise position controlled (high-gain control)

Definition at line 137 of file chain.h.

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

• chain.h