Parameters describing a single joint within an articulated actor. More...

#include <mochi_structs.h>

Inheritance diagram for superdex::ArticulatedJointParams:

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

Public Attributes
Real3	axis = {}
	Local axis of motion for the joint, in the joint's local frame.
ArticulatedJointFrictionParams	friction
	Joint friction parameters.
std::optional< real >	inertia
	Joint inertia coefficient.
real	limitDamping = 0_r
	Damping coefficient [N·s/m or N·m·s/rad] for the joint limit constraints.
real	limitStiffness = 100_r
	Stiffness coefficient [N/m or N·m/rad] for the joint limit constraints.
std::optional< Real3 >	maxLimit
	Maximum joint limits for each DoF.
std::optional< Real3 >	minLimit
	Minimum joint limits for each DoF.
DynamicString	name
	Joint name.
TransformRT	parentLinkFromJoint
	Rotation and translation of the joint with respect to the parent link.
ArticulatedJointType	type = ArticulatedJointType::Invalid
	Joint type.

Detailed Description

Parameters describing a single joint within an articulated actor.

Each joint connects a link to its parent in the kinematic tree. Joints are referenced positionally — the i-th entry of ArticulatedActorParams::joints corresponds to the joint connecting the i-th link to its parent. Cycle-closing joints are declared separately via ArticulatedActorParams::cycles.

See also: ArticulatedActorParams, ArticulatedLinkParams, ArticulatedJointType

Definition at line 184 of file mochi_structs.h.

Member Function Documentation

◆ operator==()

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

default

Member Data Documentation

◆ axis

Real3 superdex::ArticulatedJointParams::axis = {}

Local axis of motion for the joint, in the joint's local frame.

Note: Only used for ArticulatedJointType::Prismatic and ArticulatedJointType::Revolute joints. Ignored (and reset to zero) for other joint types.; For Prismatic/Revolute joints, must be non-zero and finite. The vector is automatically normalized to unit length on actor creation.

Definition at line 188 of file mochi_structs.h.

◆ friction

ArticulatedJointFrictionParams superdex::ArticulatedJointParams::friction

Joint friction parameters.

Note: Ignored for ArticulatedJointType::Free and ArticulatedJointType::Hard joints.

Definition at line 189 of file mochi_structs.h.

◆ inertia

std::optional<real> superdex::ArticulatedJointParams::inertia

Joint inertia coefficient.

Units are [kg] for translation DoFs and [kg·m²] for rotation DoFs.

Note: Default is zero joint inertia.; Ignored for ArticulatedJointType::Free and ArticulatedJointType::Hard joints.

Definition at line 190 of file mochi_structs.h.

◆ limitDamping

real superdex::ArticulatedJointParams::limitDamping = 0_r

Damping coefficient [N·s/m or N·m·s/rad] for the joint limit constraints.

Note: Ignored for joints without limits.

Definition at line 194 of file mochi_structs.h.

◆ limitStiffness

real superdex::ArticulatedJointParams::limitStiffness = 100_r

Stiffness coefficient [N/m or N·m/rad] for the joint limit constraints.

Note: Ignored for joints without limits.

Definition at line 193 of file mochi_structs.h.

◆ maxLimit

std::optional<Real3> superdex::ArticulatedJointParams::maxLimit

Maximum joint limits for each DoF.

Units are [m] for translation DoFs and [rad] for rotation DoFs.

For 1D joints, limits must be defined by multiplying the scalar max limits by the joint axis. For 3D joints, each component must define the limit along one of the axes of the joint.

Note: The definition of joint limits for spherical joints may be complex, and it may be easier to model them as 3 co-located revolute joints.

Definition at line 192 of file mochi_structs.h.

◆ minLimit

std::optional<Real3> superdex::ArticulatedJointParams::minLimit

Minimum joint limits for each DoF.

Units are [m] for translation DoFs and [rad] for rotation DoFs.

For 1D joints, limits must be defined by multiplying the scalar min limits by the joint axis. For 3D joints, each component must define the limit along one of the axes of the joint.

Note: The definition of joint limits for spherical joints may be complex, and it may be easier to model them as 3 co-located revolute joints.

Definition at line 191 of file mochi_structs.h.

◆ name

DynamicString superdex::ArticulatedJointParams::name

Joint name.

Must be unique among joints of the same articulated actor.

Note: If left empty, a unique default name (e.g., "joint_0", "joint_1", ...) is assigned automatically.

Definition at line 185 of file mochi_structs.h.

◆ parentLinkFromJoint

TransformRT superdex::ArticulatedJointParams::parentLinkFromJoint

Rotation and translation of the joint with respect to the parent link.

Definition at line 187 of file mochi_structs.h.

◆ type

ArticulatedJointType superdex::ArticulatedJointParams::type = ArticulatedJointType::Invalid

Joint type.

Note: Default ArticulatedJointType::Invalid is a sentinel. The user must overwrite it.; ArticulatedJointType::Cycle is reserved for cycle-closing joints. Use ArticulatedActorParams::cycles for cycle joints.; Static links can be modeled using a ArticulatedJointType::Hard joint whose parent is either -1 or another static link.

Definition at line 186 of file mochi_structs.h.

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

Public Member Functions

Public Attributes