Struct JointUniversal

Defined in File joints.hpp

Struct Documentation

struct JointUniversal

Public Functions

JointUniversal() = default

inline JointUniversal(const Eigen::Vector3d &ax1, const Eigen::Vector3d &ax2)

inline bool operator==(const JointUniversal &other) const

Public Members

Eigen::Vector3d axis1 = Eigen::Vector3d::UnitX()

Eigen::Vector3d axis2 = Eigen::Vector3d::UnitY()

Public Static Attributes

static int nq = 2

static int nv = 2