This structure contains all informations about a joint. More...

#include <mbs_binder_public.h>

Public Attributes
char *	name
	Name of the joint. More...

int	type
	Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6. More...

int	nature
	Nature of the joint: independent=1, dependent=2, driven=3, locked=4. More...

double	q0
	Initial position of the joint. More...

double	qd0
	Initial velocity of the joint. More...

double	qdd0
	Initial acceleration of the joint. More...

int	actuated
	For inverse dynamic only: 1 if actuated, 0 otherwise. More...

MbsInfoDData *	d_qf
	d_data for the forced q More...

int	is_symmmetric
	asymmetric = 0, symmetric master = 1, symmetric salve = 2 More...

char *	symmetric_joint_name
	the name of the symmetric joint (filed if master, NULL if slave or non symetric) More...

int	symb_q
	Flag to generate symbol for position. More...

int	symb_qd
	Flag to generate symbol for velocity. More...

int	symb_qdd
	Flag to generate symbol for acceleration. More...

MbsInfoRefPoint *	parent

char *	joint_parent

MbsInfoBody *	children_body
	Body direct children of the joint. More...

Detailed Description

This structure contains all informations about a joint.

Member Data Documentation

◆ actuated

int actuated

For inverse dynamic only: 1 if actuated, 0 otherwise.

◆ children_body

MbsInfoBody* children_body

Body direct children of the joint.

◆ d_qf

MbsInfoDData* d_qf

d_data for the forced q

◆ is_symmmetric

int is_symmmetric

asymmetric = 0, symmetric master = 1, symmetric salve = 2

◆ joint_parent

char* joint_parent

◆ name

char* name

Name of the joint.

◆ nature

int nature

Nature of the joint: independent=1, dependent=2, driven=3, locked=4.

◆ parent

MbsInfoRefPoint* parent

◆ q0

double q0

Initial position of the joint.

◆ qd0

double qd0

Initial velocity of the joint.

◆ qdd0

double qdd0

Initial acceleration of the joint.

◆ symb_q

int symb_q

Flag to generate symbol for position.

◆ symb_qd

int symb_qd

Flag to generate symbol for velocity.

◆ symb_qdd

int symb_qdd

Flag to generate symbol for acceleration.

◆ symmetric_joint_name

char* symmetric_joint_name

the name of the symmetric joint (filed if master, NULL if slave or non symetric)

◆ type

int type

Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6.

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

mbs_common/mbs_load_xml/mbs_binder_public.h

Public Attributes