Klamp't
0.8.1
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Determines the effects of an actuator on the robot configuration. More...
#include <Robot.h>
Public Types | |
enum | Type { Normal, Affine, Translation, Rotation, Custom } |
Public Member Functions | |
int | NumControls () const |
int | NumLinks () const |
bool | Affects (int link) const |
Public Attributes | |
Type | type |
vector< int > | linkIndices |
Real | qmin |
Real | qmax |
Real | vmin |
Real | vmax |
Real | amin |
Real | amax |
Real | tmin |
Real | tmax |
vector< Real > | affScaling |
vector< Real > | affOffset |
Real | servoP |
Real | servoI |
Real | servoD |
Real | dryFriction |
Real | viscousFriction |
Determines the effects of an actuator on the robot configuration.
Types