RobotJoint Struct Reference

Additional joint properties. More...

#include <Robot.h>

Public Types
enum	Type {   Weld, Normal, Spin, Floating,   FloatingPlanar, BallAndSocket, Closed }

Public Attributes
Type	type
	The type of this joint.
int	linkIndex
int	baseIndex
Vector3	localPt
	For closed joints.
Vector3	attachmentPt

Detailed Description

Additional joint properties.

Member Enumeration Documentation

enum RobotJoint::Type

Types:

• Weld: completely fixed to the parent
• Normal: regular fixed axis joint with finite range
• Spin: infinitely spinnable rotational joint
• Floating: free-floating base
• FloatingPlanar: a free-floating 2D base
• BallAndSocket: ball and socket joint
• Closed: a closed chain loop

Member Data Documentation

int RobotJoint::baseIndex

For Floating/BallAndSocket joints, the first link in the chain. For Closed joints, the attachment link

int RobotJoint::linkIndex

The affected link. For Floating/BallAndSocket joints, the last link in the chain. For Closed joints, the `free' link

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

• Robot.h