Parameters for creating a joint rotation range constraint between two rigid actors. More...
#include <mochi_structs.h>
Public Attributes | |
| ActorHandle | actorA {} |
| Actor handle identifying rigid actor A. | |
| ActorHandle | actorB {} |
| Actor handle identifying rigid actor B. | |
| Real2 | angleRangeX = kMinus2PiPlus2Pi |
| Allowed range [min, max] [rad] for the X component of the relative rotation vector (axis-angle), expressed in the joint reference frame. | |
| Real2 | angleRangeY = kMinus2PiPlus2Pi |
| Allowed range [min, max] [rad] for the Y component of the relative rotation vector (axis-angle), expressed in the joint reference frame. | |
| Real2 | angleRangeZ = kMinus2PiPlus2Pi |
| Allowed range [min, max] [rad] for the Z component of the relative rotation vector (axis-angle), expressed in the joint reference frame. | |
| bool | rangeAroundRest = true |
| When true, angle limits are relative to the actors' relative rotation at constraint creation time. | |
| Real3 | refFrameRotVec {} |
| Joint reference frame specified as a rotation vector [rad] with respect to world frame. | |
| Public Attributes inherited from superdex::ConstraintParams | |
| real | damping = 0_r |
| Constraint damping coefficient. | |
| real | saturation = -1_r |
| Saturation distance [m] or angle [rad]. | |
| real | stiffness = 1e6_r |
| Constraint stiffness coefficient. | |
Additional Inherited Members | |
| Public Member Functions inherited from superdex::ConstraintParams | |
| bool | operator== (ConstraintParams const &) const =default |
Detailed Description
Parameters for creating a joint rotation range constraint between two rigid actors.
Constrains the relative rotation between two rigid actors to remain within specified bounds. The relative rotation is expressed in a joint reference frame (captured at constraint creation time and rigidly attached to actor A thereafter), and each component of its rotation-vector (axis-angle) representation is independently constrained to its [min, max] range.
Definition at line 339 of file mochi_structs.h.
Member Data Documentation
◆ actorA
| ActorHandle superdex::JointRotationRangeConstraintParams::actorA {} |
Actor handle identifying rigid actor A.
Definition at line 348 of file mochi_structs.h.
◆ actorB
| ActorHandle superdex::JointRotationRangeConstraintParams::actorB {} |
Actor handle identifying rigid actor B.
Definition at line 350 of file mochi_structs.h.
◆ angleRangeX
| Real2 superdex::JointRotationRangeConstraintParams::angleRangeX = kMinus2PiPlus2Pi |
Allowed range [min, max] [rad] for the X component of the relative rotation vector (axis-angle), expressed in the joint reference frame.
Definition at line 342 of file mochi_structs.h.
◆ angleRangeY
| Real2 superdex::JointRotationRangeConstraintParams::angleRangeY = kMinus2PiPlus2Pi |
Allowed range [min, max] [rad] for the Y component of the relative rotation vector (axis-angle), expressed in the joint reference frame.
Definition at line 344 of file mochi_structs.h.
◆ angleRangeZ
| Real2 superdex::JointRotationRangeConstraintParams::angleRangeZ = kMinus2PiPlus2Pi |
Allowed range [min, max] [rad] for the Z component of the relative rotation vector (axis-angle), expressed in the joint reference frame.
Definition at line 346 of file mochi_structs.h.
◆ rangeAroundRest
| bool superdex::JointRotationRangeConstraintParams::rangeAroundRest = true |
When true, angle limits are relative to the actors' relative rotation at constraint creation time.
When false, limits are absolute in the joint reference frame.
Definition at line 352 of file mochi_structs.h.
◆ refFrameRotVec
| Real3 superdex::JointRotationRangeConstraintParams::refFrameRotVec {} |
Joint reference frame specified as a rotation vector [rad] with respect to world frame.
Definition at line 340 of file mochi_structs.h.
The documentation for this struct was generated from the following files:
