pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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JointLimits Struct Reference

Public Member Functions

void append (const JointLimits &jlimit, const int nq, const int nv)
template<int Nq, int Nv>
void setDimensions ()

Public Attributes

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

Detailed Description

Definition at line 23 of file joints.hpp.

Member Data Documentation

◆ armature

Eigen::VectorXd armature

Definition at line 40 of file joints.hpp.

◆ damping

Eigen::VectorXd damping

Definition at line 37 of file joints.hpp.

◆ friction

Eigen::VectorXd friction

Definition at line 35 of file joints.hpp.

◆ frictionLoss

double frictionLoss = 0.

Definition at line 42 of file joints.hpp.

◆ maxConfig

Eigen::VectorXd maxConfig

Definition at line 30 of file joints.hpp.

◆ maxEffort

Eigen::VectorXd maxEffort

Definition at line 26 of file joints.hpp.

◆ maxVel

Eigen::VectorXd maxVel

Definition at line 28 of file joints.hpp.

◆ minConfig

Eigen::VectorXd minConfig

Definition at line 32 of file joints.hpp.

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