superdex::ArticulatedDofInfo Struct Reference

Degree-of-freedom layout information for a single joint in an articulated body. More...

#include <articulated_body_params.h>

Public Member Functions
int	GetRotOffset () const
	Offset of this joint's rotational DoFs in the flattened DoF array.
int	GetSize () const
	Total number of DoFs for this joint.
int	GetTransOffset () const
	Offset of this joint's translational DoFs in the flattened DoF array.
bool	operator== (ArticulatedDofInfo const &) const =default

Public Attributes
int	offset = -1
	Offset of this joint's DoFs in the flattened DoF array.
int	rotSize = 0
	Number of rotational DoFs for this joint.
int	transSize = 0
	Number of translational DoFs for this joint.

Detailed Description

Degree-of-freedom layout information for a single joint in an articulated body.

Describes the offset and sizes of translation and rotation DoFs for a joint within the flattened DoF array of the articulated body.

Definition at line 32 of file articulated_body_params.h.

Member Function Documentation

GetRotOffset()

int superdex::ArticulatedDofInfo::GetRotOffset ( ) const

inline

Offset of this joint's rotational DoFs in the flattened DoF array.

Returns

The rotational DoF offset (offset + transSize).

Definition at line 28 of file articulated_body_params_inl.h.

GetSize()

int superdex::ArticulatedDofInfo::GetSize ( ) const

inline

Total number of DoFs for this joint.

Returns

The total DoF count (transSize + rotSize).

Definition at line 32 of file articulated_body_params_inl.h.

GetTransOffset()

int superdex::ArticulatedDofInfo::GetTransOffset ( ) const

inline

Offset of this joint's translational DoFs in the flattened DoF array.

Returns

The translational DoF offset (equal to offset).

Definition at line 24 of file articulated_body_params_inl.h.

operator==()

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

default

Member Data Documentation

offset

int superdex::ArticulatedDofInfo::offset = -1

Offset of this joint's DoFs in the flattened DoF array.

Definition at line 34 of file articulated_body_params.h.

rotSize

int superdex::ArticulatedDofInfo::rotSize = 0

Number of rotational DoFs for this joint.

Definition at line 38 of file articulated_body_params.h.

transSize

int superdex::ArticulatedDofInfo::transSize = 0

Number of translational DoFs for this joint.

Definition at line 36 of file articulated_body_params.h.

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

• articulated_body_params.h
• articulated_body_params_inl.h