Struct JointLimits

Defined in File joints.hpp

Struct Documentation

struct JointLimits

Public Functions

JointLimits() = default

template<int Nq, int Nv> void setDimensions()

void append(const JointLimits &jlimit, const int nq, const int nv)

Public Members

Eigen::VectorXd maxEffort

Eigen::VectorXd maxVel

Eigen::VectorXd maxConfig

Eigen::VectorXd minConfig

Eigen::VectorXd friction

Eigen::VectorXd damping

Eigen::VectorXd armature

double frictionLoss = 0.