Struct JointInfo

• Defined in File types.hpp

Struct Documentation

struct JointInfo

Contains joint information relevant to motion planning and control.

Public Functions

JointInfo(JointType joint_type)

Constructor for joint info.

Parameters:

joint_type – The type of the joint. All other variables will be initialized according to this value.

Public Members

JointType type

The type of the joint.

size_t num_position_dofs

The number of positional degrees of freedom.

size_t num_velocity_dofs

The number of velocity degrees of freedom.

This also corresponds to higher derivatives like acceleration and jerk.

JointLimits limits

The joint limit information for each degree of freedom.

std::optional<JointMimicInfo> mimic_info

The joint mimic information.