Struct RangeJoint

Struct Documentation

struct RangeJoint

All joint limits.

Public Functions

RangeJoint() = default
inline explicit RangeJoint(double v)
template<int Nq, int Nv>
RangeJoint setDimension() const

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

template<int Nq, int Nv>
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.

Public Members

Eigen::VectorXd maxEffort
Eigen::VectorXd maxVel
Eigen::VectorXd maxConfig
Eigen::VectorXd minConfig
Eigen::VectorXd springStiffness
Eigen::VectorXd springReference
Eigen::VectorXd friction
Eigen::VectorXd damping
Eigen::VectorXd armature
double frictionLoss = 0.