One ordered element in a spatial tendon's heterogeneous routing list. More...

#include <articulated_body_params.h>

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

Public Attributes
real	coefficient = 0_r
	LinearJoint only: the signed constant moment arm d(displacement)/d(joint DoF) [m / joint DoF]; its sign sets whether the tendon lengthens or shortens with the joint DoF.
int	index = 0
	Waypoint: the link index the waypoint is attached to. LinearJoint: the joint index.
Real3	localPosition = {}
	Waypoint only: the waypoint position in the link's local frame (the same frame in which the link's mesh and geometry are authored, i.e.
RoutingElementType	type = RoutingElementType::Waypoint
	Selects the interpretation of the remaining fields.

Detailed Description

One ordered element in a spatial tendon's heterogeneous routing list.

A RoutingElementType::Waypoint uses index (a link index) and localPosition; a RoutingElementType::LinearJoint uses index (a joint index) and coefficient. Order matters: a segment forms only between adjacent waypoints, so a linear-joint element between two waypoints leaves a gap.

Definition at line 237 of file articulated_body_params.h.

Member Function Documentation

◆ operator==()

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

default

Member Data Documentation

◆ coefficient

real superdex::RoutingElement::coefficient = 0_r

LinearJoint only: the signed constant moment arm d(displacement)/d(joint DoF) [m / joint DoF]; its sign sets whether the tendon lengthens or shortens with the joint DoF.

Definition at line 250 of file articulated_body_params.h.

◆ index

int superdex::RoutingElement::index = 0

Waypoint: the link index the waypoint is attached to. LinearJoint: the joint index.

Definition at line 242 of file articulated_body_params.h.

◆ localPosition

Real3 superdex::RoutingElement::localPosition = {}

Waypoint only: the waypoint position in the link's local frame (the same frame in which the link's mesh and geometry are authored, i.e.

the link's root-transform frame) [m].

Definition at line 246 of file articulated_body_params.h.

◆ type

RoutingElementType superdex::RoutingElement::type = RoutingElementType::Waypoint

Selects the interpretation of the remaining fields.

Definition at line 239 of file articulated_body_params.h.

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

articulated_body_params.h

Public Member Functions

Public Attributes