Class PinJointLimitsParams

• Defined in File PinJointLimits.h

Inheritance Relationships

Base Type

• public Karana::Models::KModelParams (Class KModelParams)

Class Documentation

class PinJointLimitsParams : public Karana::Models::KModelParams

Parameters for the PinJointLimits model.

Public Functions

PinJointLimitsParams(std::string_view name)

Constructor.

Parameters:

name – - Name of the params.

virtual bool isFinalized() const final

Used to ensure the params are finalized.

Returns:

true if the params are finalized, `false otherwise.

Public Members

double upper_limit

Pin joint upper limit.

double lower_limit

Pin joint lower limit.

double k

Spring constant for the restoring force.

double d

Damping constant for the restoring force.