Information about a joint. A joint is a component of a model. More...

#include <haptix_sim.h>

Data Fields
float	acc
	Acceleration (rad/s/s). More...

char	name [100]
	Joint name. More...

float	pos
	Position (radians). More...

float	torque_motor
	Torque due to actuation (N-m). More...

float	vel
	Velocity (rad/s). More...

hxsWrench	wrench_reactive
	Force/torque pair due to external disturbances. More...

Detailed Description

Information about a joint. A joint is a component of a model.

Field Documentation

float hxsJoint::acc

Acceleration (rad/s/s).

char hxsJoint::name[100]

Joint name.

float hxsJoint::pos

Position (radians).

float hxsJoint::torque_motor

Torque due to actuation (N-m).

float hxsJoint::vel

Velocity (rad/s).

hxsWrench hxsJoint::wrench_reactive

Force/torque pair due to external disturbances.

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