Struct SphericalSubhingeParams

Struct SphericalSubhingeParams#

Inheritance Relationships#

Base Type#

Struct Documentation#

struct SphericalSubhingeParams : public Karana::Dynamics::PhysicalSubhingeParams#

Hold data related to a SphericalSubhinge.

Public Functions

SphericalSubhingeParams(bool prescribed = false, const Eigen::Matrix<double, 3, 2, Eigen::RowMajor> &range_limits = Eigen::Matrix<double, 3, 2, Eigen::RowMajor>::Constant(km::notReadyNaN))#

SphericalSubhingeParams constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

  • prescribed – Whether the joint is prescribed or not

  • range_limits – The range limits for the subhinge. Signed infinity means the joint is unbounded, and NaN values are treated as unbounded.

~SphericalSubhingeParams()#

Destructor.

SphericalSubhingeParams(const SphericalSubhingeParams&) = delete#
SphericalSubhingeParams &operator=(const SphericalSubhingeParams&) = delete#

Public Members

bool prescribed = false#

Whether this SphericalSubhinge is prescribed or not.

Eigen::Matrix<double, 3, 2, Eigen::RowMajor> range_limits#

The Q range limits for the SphericalSubhinge.

Public Static Functions

static kc::ks_ptr<SphericalSubhingeParams> create(bool prescribed = false, const Eigen::Matrix<double, 3, 2, Eigen::RowMajor> &range_limits = Eigen::Matrix<double, 3, 2, Eigen::RowMajor>::Constant(km::notReadyNaN))#

Create an instance of SphericalSubhingeParams.

Parameters:

  • prescribed – Whether the joint is prescribed or not

  • range_limits – The range limits for the subhinge. Signed infinity means the joint is unbounded, and NaN values are treated as unbounded.

Returns:

A pointer to the newly created SphericalSubhingeParams.

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