HAPTIX API
Robot information. More...
#include <haptix.h>
Data Fields | |
| int | contact_sensor_count |
| Number of contact sensors. More... | |
| int | imu_count |
| Number of IMUs (inertial measurement units). More... | |
| int | joint_count |
| Number of hinge joints. More... | |
| float | joint_limit [32][2] |
| Minimum and maximum joint angles (rad). More... | |
| int | motor_count |
| Number of motors. More... | |
| float | motor_limit [32][2] |
| Minimum and maximum motor angles (rad). More... | |
| float | update_rate |
| Hz rate at which the robot will update. More... | |
Robot information.
This data structure specifies inherent properties of the robot that do not change during simulation (for example, the number of joints in the robot arm).
It can be retrieved by calling hx_robot_info(hxRobotInfo*).
| int hxRobotInfo::contact_sensor_count |
Number of contact sensors.
A contact sensor measures the magnitude of the force on that sensor.
| int hxRobotInfo::imu_count |
Number of IMUs (inertial measurement units).
An IMU or inertial measurement unit measures the 3-dimensional linear acceleration vector and the 3-dimensional angular velocity vector experienced by the sensor.
| int hxRobotInfo::joint_count |
Number of hinge joints.
The joints are passive and are moved as a side effect of commanding the motors. A joint may correspond directly to the movement of a motor, or it may be commanded indirectly through joint coupling.
The number of joints is greater than or equal to the number of motors.
| float hxRobotInfo::joint_limit[32][2] |
Minimum and maximum joint angles (rad).
An n by 2 array representing the angular limits of each joint in the robot, where n is the maximum number of joints. Each 1x2 row of the array corresponds to a joint. The first entry in the row is the lower limit of the joint. The second entry is the upper limit of the joint.
| int hxRobotInfo::motor_count |
Number of motors.
Motors are commanded through filling an hxCommand struct and calling hx_update(const hxCommand*, hxSensor*).
The number of motors is less than or equal to the number of joints. For example, one motor may control several joints through kinematic joint coupling.
| float hxRobotInfo::motor_limit[32][2] |
Minimum and maximum motor angles (rad).
An m by 2 array representing the angular limits of each motor in the robot, where m is the maximum number of motors. Each 1x2 row of the array corresponds to a motor. The first entry in the row is the lower limit of the motor. The second entry is the upper limit of the motor.
| float hxRobotInfo::update_rate |
Hz rate at which the robot will update.