Parameters for a cycle-closing joint within an articulated actor. More...

#include <mochi_structs.h>

Public Member Functions
bool	operator== (ArticulatedCycleJointParams const &) const =default

Public Attributes
int	childLink = -1
	Child link index.
TransformRT	jointFromChildLink = {}
	Position and rotation of the cycle joint constraint in the child link's local frame.
int	parentLink = -1
	Parent link index.
real	stiffness = 50000_r
	Stiffness [N/m] for the cycle joint constraint.

Detailed Description

Parameters for a cycle-closing joint within an articulated actor.

Cycle joints close loops in the kinematic chain, enabling topologies beyond simple trees. Implemented as a soft spherical joint constraint (see jointFromChildLink and stiffness).

See also: ArticulatedActorParams::cycles, ArticulatedCycleJoint

Definition at line 234 of file mochi_structs.h.

Member Function Documentation

◆ operator==()

bool superdex::ArticulatedCycleJointParams::operator== ( ArticulatedCycleJointParams const & ) const

default

Member Data Documentation

◆ childLink

int superdex::ArticulatedCycleJointParams::childLink = -1

Child link index.

Definition at line 236 of file mochi_structs.h.

◆ jointFromChildLink

TransformRT superdex::ArticulatedCycleJointParams::jointFromChildLink = {}

Position and rotation of the cycle joint constraint in the child link's local frame.

Note: A cycle joint is implemented using a spherical joint constraint. The jointFromChildLink translation defines the pivot point, in the child link's local frame. Rotation is currently unused, but it could affect joint limits in the future.

Definition at line 237 of file mochi_structs.h.

◆ parentLink

int superdex::ArticulatedCycleJointParams::parentLink = -1

Parent link index.

Definition at line 235 of file mochi_structs.h.

◆ stiffness

real superdex::ArticulatedCycleJointParams::stiffness = 50000_r

Stiffness [N/m] for the cycle joint constraint.

Definition at line 238 of file mochi_structs.h.

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

Public Member Functions

Public Attributes