mars::sim::SimJoint Class Reference

SimJoint represents the simulated joints. More...

#include <SimJoint.h>

Public Member Functions
	SimJoint (interfaces::ControlCenter *control, const interfaces::JointData &sJoint)
	~SimJoint ()
void	rotateAxis (const utils::Quaternion &rotatem, unsigned char axis_index=1)
void	update (interfaces::sReal calc_ms)
void	reattachJoint (void)
void	attachMotor (unsigned char axis_index)
void	detachMotor (unsigned char axis_index)
void	updateStepSize (void)
const utils::Vector	getAnchor (void) const
SimNode *	getAttachedNode (unsigned char axis_index=1) const
const utils::Vector	getAxis (unsigned char axis_index=1) const
void	getCoreExchange (interfaces::core_objects_exchange *obj) const
interfaces::sReal	getPosition (unsigned char axis_index=1) const
const utils::Vector	getForceVector (unsigned char axis_index=1) const
unsigned long	getIndex (void) const
interfaces::JointType	getJointType (void) const
const utils::Vector	getJointLoad (void) const
interfaces::sReal	getLowerLimit (unsigned char axis_index=1) const
interfaces::sReal	getUpperLimit (unsigned char axis_index=1) const
interfaces::sReal	getMotorTorque (void) const
interfaces::NodeId	getNodeId (unsigned char node_index=1) const
const interfaces::JointData	getSJoint (void) const
interfaces::sReal	getVelocity (unsigned char axis_index=1) const
interfaces::sReal	getTorque (interfaces::sReal torque, unsigned char axis_index=1) const
const utils::Vector	getTorqueVector (unsigned char axis_index=1) const
const utils::Vector	getTorqueVectorAroundAxis (unsigned char axis_index=1) const
void	setAnchor (const utils::Vector &pos)
void	setAttachedNodes (SimNode *node, SimNode *node2)
void	setAxis (const utils::Vector &axis, unsigned char axis_index=1)
void	setEffortLimit (interfaces::sReal force, unsigned char axis_index=1)
void	setId (unsigned long i)
void	setJointType (interfaces::JointType type)
void	setOfflinePosition (interfaces::sReal value)
void	setPhysicalJoint (interfaces::JointInterface *physical_joint)
void	setSDParams (interfaces::JointData *sJoint)
void	setSJoint (const interfaces::JointData &sJoint)
void	setVelocity (interfaces::sReal velocity, unsigned char axis_index=1)
void	setEffort (interfaces::sReal torque, unsigned char axis_index=1)
void	setLowerLimit (interfaces::sReal limit, unsigned char axis_index=1)
void	setUpperLimit (interfaces::sReal limit, unsigned char axis_index=1)
void	setInvertAxis (bool v)
void	getDataBrokerNames (std::string *groupName, std::string *dataName) const
virtual void	produceData (const data_broker::DataInfo &info, data_broker::DataPackage *package, int callbackParam)
void	changeStepSize (void) __attribute__((deprecated("use updateStepSize")))
void	setJointAsMotor (int axis) __attribute__((deprecated("use attachMotor")))
void	unsetJointAsMotor (int axis) __attribute__((deprecated("use detachMotor")))
unsigned long	getNodeIndex1 (void) const __attribute__((deprecated("use getNodeId")))
unsigned long	getNodeIndex2 (void) const __attribute__((deprecated("use getNodeId")))
void	setInterface (interfaces::JointInterface *physical_joint) __attribute__((deprecated("use setPhysicalJoint")))
void	setForceLimit (interfaces::sReal force) __attribute__((deprecated("use setEffortLimit")))
void	setForceLimit2 (interfaces::sReal force) __attribute__((deprecated("use setEffortLimit")))
void	setVelocity2 (interfaces::sReal velocity) __attribute__((deprecated("use setVelocity(v
void interfaces::sReal	getVelocity2 (void) const __attribute__((deprecated("use getVelocity(1)")))
void	setTorque (interfaces::sReal torque) __attribute__((deprecated("use setEffort")))
void	setTorque2 (interfaces::sReal torque) __attribute__((deprecated("use setEffort")))
interfaces::sReal	getLowStop () const __attribute__((deprecated("use getLowerLimit")))
interfaces::sReal	getLowStop2 () const __attribute__((deprecated("use getLowerLimit")))
interfaces::sReal	getHighStop () const __attribute__((deprecated("use getUpperLimit")))
interfaces::sReal	getHighStop2 () const __attribute__((deprecated("use getUpperLimit")))
void	setLowStop (interfaces::sReal lowStop) __attribute__((deprecated("use setLowerLimit")))
void	setHighStop (interfaces::sReal highStop) __attribute__((deprecated("use setUpperLimit")))
void	setLowStop2 (interfaces::sReal lowStop2) __attribute__((deprecated("use setLowerLimit")))
void	setHighStop2 (interfaces::sReal highStop2) __attribute__((deprecated("use setUpperLimit")))
const utils::Vector	getForce1 (void) const __attribute__((deprecated("use getForceVector")))
const utils::Vector	getForce2 (void) const __attribute__((deprecated("use getForceVector")))
const utils::Vector	getTorque1 (void) const __attribute__((deprecated("use getTorqueVector")))
const utils::Vector	getTorque2 (void) const __attribute__((deprecated("use getTorqueVector")))
interfaces::sReal	getActualAngle1 () const __attribute__((deprecated("use getPosition")))
interfaces::sReal	getActualAngle2 () const __attribute__((deprecated("use getPosition")))
SimNode *	getAttachedNode1 (void) const __attribute__((deprecated("use getAttachedNode")))
SimNode *	getAttachedNode2 (void) const __attribute__((deprecated("use getgetAttachedNode")))
void	setAxis1 (const utils::Vector &axis) __attribute__((deprecated("use setAxis")))
void	setAxis2 (const utils::Vector &axis) __attribute__((deprecated("use setAxis")))
void	rotateAxis1 (const utils::Quaternion &rotatem) __attribute__((deprecated("use rotateAxis")))
const utils::Vector	getAxis1 (void) const __attribute__((deprecated("use getAxis")))
const utils::Vector	getAxis2 (void) const __attribute__((deprecated("use getAxis")))
void	reattacheJoint (void) __attribute__((deprecated("use reattachJoint")))
const utils::Vector	getAxis1Torque (void) const __attribute__((deprecated("use getTorqueAroundAxis")))
const utils::Vector	getAxis2Torque (void) const __attribute__((deprecated("use getTorqueAroundAxis")))
void	setOfflineValue (interfaces::sReal value) __attribute__((deprecated("use setOfflinePosition")))
Public Member Functions inherited from mars::data_broker::ProducerInterface
	ProducerInterface ()
virtual	~ProducerInterface ()

Private Member Functions
void	setupDataPackageMapping ()

Private Attributes
interfaces::ControlCenter *	control
interfaces::JointData	sJoint
interfaces::JointInterface *	physical_joint
SimNode *	snode1
SimNode *	snode2
interfaces::JointId	id
interfaces::sReal	position1
interfaces::sReal	position2
interfaces::sReal	velocity1
interfaces::sReal	velocity2
interfaces::sReal	lowerLimit1
interfaces::sReal	lowerLimit2
interfaces::sReal	upperLimit1
interfaces::sReal	upperLimit2
utils::Vector	anchor
utils::Vector	axis1
utils::Vector	axis2
utils::Vector	f1
utils::Vector	f2
utils::Vector	t1
utils::Vector	t2
utils::Vector	axis1_torque
utils::Vector	axis2_torque
utils::Vector	joint_load
interfaces::sReal	motor_torque
interfaces::sReal	invert
utils::Vector	axis1InNode1
utils::Vector	node1ToAnchor
int	pushToDataBroker
data_broker::DataPackageMapping	dbPackageMapping

Detailed Description

SimJoint represents the simulated joints.

Each SimJoint object publishes its state on the dataBroker. The name under which the data is published can be obtained from the jointId via JointManager::getDataBrokerNames. The data_broker::DataPackage will contain the following items:

• "id" (int)
• "axis1/x" (double)
• "axis1/y" (double)
• "axis1/z" (double)
• "axis1/angle" (double)
• "axis1/speed" (double) // speed is deprecated
• "axis1/velocity" (double)
• "axis1/torque/x" (double)
• "axis1/torque/y" (double)
• "axis1/torque/z" (double)
• "axis2/x" (double)
• "axis2/y" (double)
• "axis2/z" (double)
• "axis2/angle" (double)
• "axis2/speed" (double) // speed is deprecated
• "axis2/velocity" (double)
• "axis2/torque/x" (double)
• "axis2/torque/y" (double)
• "axis2/torque/z" (double)
• "force1/x" (double)
• "force1/y" (double)
• "force1/z" (double)
• "torque1/x" (double)
• "torque1/y" (double)
• "torque1/z" (double)
• "force2/x" (double)
• "force2/y" (double)
• "force2/z" (double)
• "torque2/x" (double)
• "torque2/y" (double)
• "torque2/z" (double)
• "anchor/x" (double)
• "anchor/y" (double)
• "anchor/z" (double)
• "jointLoad/x" (double)
• "jointLoad/y" (double)
• "jointLoad/z" (double)
• "motorTorque" (double)

Definition at line 99 of file SimJoint.h.

Constructor & Destructor Documentation

SimJoint()

mars::sim::SimJoint::SimJoint ( interfaces::ControlCenter *  control, const interfaces::JointData &  sJoint  )

explicit

Definition at line 40 of file SimJoint.cpp.

~SimJoint()

mars::sim::SimJoint::~SimJoint

(

)

Definition at line 70 of file SimJoint.cpp.

Member Function Documentation

attachMotor()

void mars::sim::SimJoint::attachMotor

(

unsigned char

axis_index

)

Definition at line 380 of file SimJoint.cpp.

changeStepSize()

void mars::sim::SimJoint::changeStepSize

(

void

)

Definition at line 464 of file SimJoint.cpp.

detachMotor()

void mars::sim::SimJoint::detachMotor

(

unsigned char

axis_index

)

Definition at line 384 of file SimJoint.cpp.

getActualAngle1()

sReal mars::sim::SimJoint::getActualAngle1

(

)

const

Definition at line 218 of file SimJoint.cpp.

getActualAngle2()

sReal mars::sim::SimJoint::getActualAngle2

(

)

const

Definition at line 222 of file SimJoint.cpp.

getAnchor()

const Vector mars::sim::SimJoint::getAnchor

(

void

)

const

Definition at line 149 of file SimJoint.cpp.

getAttachedNode()

SimNode * mars::sim::SimJoint::getAttachedNode

(

unsigned char

axis_index = 1

)

const

Definition at line 120 of file SimJoint.cpp.

getAttachedNode1()

SimNode * mars::sim::SimJoint::getAttachedNode1

(

void

)

const

Definition at line 124 of file SimJoint.cpp.

getAttachedNode2()

SimNode * mars::sim::SimJoint::getAttachedNode2

(

void

)

const

Definition at line 128 of file SimJoint.cpp.

getAxis()

const utils::Vector mars::sim::SimJoint::getAxis

(

unsigned char

axis_index = 1

)

const

Definition at line 171 of file SimJoint.cpp.

getAxis1()

const Vector mars::sim::SimJoint::getAxis1

(

void

)

const

Definition at line 175 of file SimJoint.cpp.

getAxis1Torque()

const Vector mars::sim::SimJoint::getAxis1Torque

(

void

)

const

Definition at line 436 of file SimJoint.cpp.

getAxis2()

const Vector mars::sim::SimJoint::getAxis2

(

void

)

const

Definition at line 179 of file SimJoint.cpp.

getAxis2Torque()

const Vector mars::sim::SimJoint::getAxis2Torque

(

void

)

const

Definition at line 440 of file SimJoint.cpp.

getCoreExchange()

void mars::sim::SimJoint::getCoreExchange

(

interfaces::core_objects_exchange *

obj

)

const

Definition at line 396 of file SimJoint.cpp.

getDataBrokerNames()

void mars::sim::SimJoint::getDataBrokerNames	(	std::string *	groupName,
		std::string *	dataName
	)		const

Definition at line 486 of file SimJoint.cpp.

getForce1()

const Vector mars::sim::SimJoint::getForce1

(

void

)

const

Definition at line 408 of file SimJoint.cpp.

getForce2()

const Vector mars::sim::SimJoint::getForce2

(

void

)

const

Definition at line 412 of file SimJoint.cpp.

getForceVector()

const utils::Vector mars::sim::SimJoint::getForceVector

(

unsigned char

axis_index = 1

)

const

Definition at line 404 of file SimJoint.cpp.

getHighStop()

sReal mars::sim::SimJoint::getHighStop

(

)

const

Definition at line 534 of file SimJoint.cpp.

getHighStop2()

sReal mars::sim::SimJoint::getHighStop2

(

)

const

Definition at line 542 of file SimJoint.cpp.

getIndex()

unsigned long mars::sim::SimJoint::getIndex

(

void

)

const

Definition at line 210 of file SimJoint.cpp.

getJointLoad()

const Vector mars::sim::SimJoint::getJointLoad

(

void

)

const

Definition at line 444 of file SimJoint.cpp.

getJointType()

JointType mars::sim::SimJoint::getJointType

(

void

)

const

Definition at line 136 of file SimJoint.cpp.

getLowerLimit()

sReal mars::sim::SimJoint::getLowerLimit

(

unsigned char

axis_index = 1

)

const

Definition at line 522 of file SimJoint.cpp.

getLowStop()

sReal mars::sim::SimJoint::getLowStop

(

)

const

Definition at line 530 of file SimJoint.cpp.

getLowStop2()

sReal mars::sim::SimJoint::getLowStop2

(

)

const

Definition at line 538 of file SimJoint.cpp.

getMotorTorque()

sReal mars::sim::SimJoint::getMotorTorque

(

void

)

const

Definition at line 482 of file SimJoint.cpp.

getNodeId()

NodeId mars::sim::SimJoint::getNodeId

(

unsigned char

node_index = 1

)

const

Definition at line 448 of file SimJoint.cpp.

getNodeIndex1()

unsigned long mars::sim::SimJoint::getNodeIndex1

(

void

)

const

Definition at line 452 of file SimJoint.cpp.

getNodeIndex2()

unsigned long mars::sim::SimJoint::getNodeIndex2

(

void

)

const

Definition at line 456 of file SimJoint.cpp.

getPosition()

sReal mars::sim::SimJoint::getPosition

(

unsigned char

axis_index = 1

)

const

Definition at line 214 of file SimJoint.cpp.

getSJoint()

const JointData mars::sim::SimJoint::getSJoint

(

void

)

const

Definition at line 300 of file SimJoint.cpp.

getTorque()

interfaces::sReal mars::sim::SimJoint::getTorque	(	interfaces::sReal	torque,
		unsigned char	axis_index = 1
	)		const

getTorque1()

const Vector mars::sim::SimJoint::getTorque1

(

void

)

const

Definition at line 420 of file SimJoint.cpp.

getTorque2()

const Vector mars::sim::SimJoint::getTorque2

(

void

)

const

Definition at line 424 of file SimJoint.cpp.

getTorqueVector()

const Vector mars::sim::SimJoint::getTorqueVector

(

unsigned char

axis_index = 1

)

const

Definition at line 416 of file SimJoint.cpp.

getTorqueVectorAroundAxis()

const Vector mars::sim::SimJoint::getTorqueVectorAroundAxis

(

unsigned char

axis_index = 1

)

const

Definition at line 432 of file SimJoint.cpp.

getUpperLimit()

sReal mars::sim::SimJoint::getUpperLimit

(

unsigned char

axis_index = 1

)

const

Definition at line 526 of file SimJoint.cpp.

getVelocity()

interfaces::sReal mars::sim::SimJoint::getVelocity

(

unsigned char

axis_index = 1

)

const

Definition at line 355 of file SimJoint.cpp.

getVelocity2()

sReal mars::sim::SimJoint::getVelocity2

(

void

)

const

Definition at line 359 of file SimJoint.cpp.

produceData()

void mars::sim::SimJoint::produceData ( const data_broker::DataInfo &  info, data_broker::DataPackage *  package, int  callbackParam  )

virtual

Implements mars::data_broker::ProducerInterface.

Definition at line 587 of file SimJoint.cpp.

reattacheJoint()

void mars::sim::SimJoint::reattacheJoint

(

void

)

Definition at line 428 of file SimJoint.cpp.

reattachJoint()

void mars::sim::SimJoint::reattachJoint

(

void

)

Definition at line 82 of file SimJoint.cpp.

rotateAxis()

void mars::sim::SimJoint::rotateAxis	(	const utils::Quaternion &	rotatem,
		unsigned char	axis_index = 1
	)

Definition at line 153 of file SimJoint.cpp.

rotateAxis1()

void mars::sim::SimJoint::rotateAxis1

(

const utils::Quaternion &

rotatem

)

Definition at line 167 of file SimJoint.cpp.

setAnchor()

void mars::sim::SimJoint::setAnchor

(

const utils::Vector &

pos

)

Definition at line 140 of file SimJoint.cpp.

setAttachedNodes()

void mars::sim::SimJoint::setAttachedNodes	(	SimNode *	node,
		SimNode *	node2
	)

Definition at line 111 of file SimJoint.cpp.

setAxis()

void mars::sim::SimJoint::setAxis	(	const utils::Vector &	axis,
		unsigned char	axis_index = 1
	)

Definition at line 183 of file SimJoint.cpp.

setAxis1()

void mars::sim::SimJoint::setAxis1

(

const utils::Vector &

axis

)

Definition at line 198 of file SimJoint.cpp.

setAxis2()

void mars::sim::SimJoint::setAxis2

(

const utils::Vector &

axis

)

Definition at line 202 of file SimJoint.cpp.

setEffort()

void mars::sim::SimJoint::setEffort	(	interfaces::sReal	torque,
		unsigned char	axis_index = 1
	)

Definition at line 363 of file SimJoint.cpp.

setEffortLimit()

void mars::sim::SimJoint::setEffortLimit	(	interfaces::sReal	force,
		unsigned char	axis_index = 1
	)

Definition at line 325 of file SimJoint.cpp.

setForceLimit()

void mars::sim::SimJoint::setForceLimit

(

interfaces::sReal

force

)

Definition at line 334 of file SimJoint.cpp.

setForceLimit2()

void mars::sim::SimJoint::setForceLimit2

(

interfaces::sReal

force

)

Definition at line 338 of file SimJoint.cpp.

setHighStop()

void mars::sim::SimJoint::setHighStop

(

interfaces::sReal

highStop

)

Definition at line 570 of file SimJoint.cpp.

setHighStop2()

void mars::sim::SimJoint::setHighStop2

(

interfaces::sReal

highStop2

)

Definition at line 580 of file SimJoint.cpp.

setId()

void mars::sim::SimJoint::setId

(

unsigned long

i

)

Definition at line 206 of file SimJoint.cpp.

setInterface()

void mars::sim::SimJoint::setInterface

(

interfaces::JointInterface *

physical_joint

)

Definition at line 321 of file SimJoint.cpp.

setInvertAxis()

void mars::sim::SimJoint::setInvertAxis

(

bool

v

)

Definition at line 291 of file SimJoint.cpp.

setJointAsMotor()

void mars::sim::SimJoint::setJointAsMotor

(

int

axis

)

Definition at line 388 of file SimJoint.cpp.

setJointType()

void mars::sim::SimJoint::setJointType

(

interfaces::JointType

type

)

Definition at line 132 of file SimJoint.cpp.

setLowerLimit()

void mars::sim::SimJoint::setLowerLimit	(	interfaces::sReal	limit,
		unsigned char	axis_index = 1
	)

Definition at line 546 of file SimJoint.cpp.

setLowStop()

void mars::sim::SimJoint::setLowStop

(

interfaces::sReal

lowStop

)

Definition at line 566 of file SimJoint.cpp.

setLowStop2()

void mars::sim::SimJoint::setLowStop2

(

interfaces::sReal

lowStop2

)

Definition at line 575 of file SimJoint.cpp.

setOfflinePosition()

void mars::sim::SimJoint::setOfflinePosition

(

interfaces::sReal

value

)

Definition at line 500 of file SimJoint.cpp.

setOfflineValue()

void mars::sim::SimJoint::setOfflineValue

(

interfaces::sReal

value

)

Definition at line 496 of file SimJoint.cpp.

setPhysicalJoint()

void mars::sim::SimJoint::setPhysicalJoint

(

interfaces::JointInterface *

physical_joint

)

Definition at line 317 of file SimJoint.cpp.

setSDParams()

void mars::sim::SimJoint::setSDParams

(

interfaces::JointData *

sJoint

)

Definition at line 468 of file SimJoint.cpp.

setSJoint()

void mars::sim::SimJoint::setSJoint

(

const interfaces::JointData &

sJoint

)

Definition at line 262 of file SimJoint.cpp.

setTorque()

void mars::sim::SimJoint::setTorque

(

interfaces::sReal

torque

)

Definition at line 372 of file SimJoint.cpp.

setTorque2()

void mars::sim::SimJoint::setTorque2

(

interfaces::sReal

torque

)

Definition at line 376 of file SimJoint.cpp.

setupDataPackageMapping()

void mars::sim::SimJoint::setupDataPackageMapping ( )

private

Definition at line 593 of file SimJoint.cpp.

setUpperLimit()

void mars::sim::SimJoint::setUpperLimit	(	interfaces::sReal	limit,
		unsigned char	axis_index = 1
	)

Definition at line 556 of file SimJoint.cpp.

setVelocity()

void mars::sim::SimJoint::setVelocity	(	interfaces::sReal	velocity,
		unsigned char	axis_index = 1
	)

Definition at line 342 of file SimJoint.cpp.

setVelocity2()

void mars::sim::SimJoint::setVelocity2

(

interfaces::sReal

velocity

)

Definition at line 351 of file SimJoint.cpp.

unsetJointAsMotor()

void mars::sim::SimJoint::unsetJointAsMotor

(

int

axis

)

Definition at line 392 of file SimJoint.cpp.

update()

void mars::sim::SimJoint::update

(

interfaces::sReal

calc_ms

)

Definition at line 226 of file SimJoint.cpp.

updateStepSize()

void mars::sim::SimJoint::updateStepSize

(

void

)

Definition at line 460 of file SimJoint.cpp.

Member Data Documentation

anchor

utils::Vector mars::sim::SimJoint::anchor

private

Definition at line 204 of file SimJoint.h.

axis1

utils::Vector mars::sim::SimJoint::axis1

private

Definition at line 205 of file SimJoint.h.

axis1_torque

utils::Vector mars::sim::SimJoint::axis1_torque

private

Definition at line 208 of file SimJoint.h.

axis1InNode1

utils::Vector mars::sim::SimJoint::axis1InNode1

private

Definition at line 210 of file SimJoint.h.

axis2

utils::Vector mars::sim::SimJoint::axis2

private

Definition at line 205 of file SimJoint.h.

axis2_torque

utils::Vector mars::sim::SimJoint::axis2_torque

private

Definition at line 208 of file SimJoint.h.

control

interfaces::ControlCenter* mars::sim::SimJoint::control

private

Definition at line 196 of file SimJoint.h.

dbPackageMapping

data_broker::DataPackageMapping mars::sim::SimJoint::dbPackageMapping

private

Definition at line 216 of file SimJoint.h.

f1

utils::Vector mars::sim::SimJoint::f1

private

Definition at line 206 of file SimJoint.h.

f2

utils::Vector mars::sim::SimJoint::f2

private

Definition at line 206 of file SimJoint.h.

id

interfaces::JointId mars::sim::SimJoint::id

private

Definition at line 200 of file SimJoint.h.

invert

interfaces::sReal mars::sim::SimJoint::invert

private

Definition at line 209 of file SimJoint.h.

joint_load

utils::Vector mars::sim::SimJoint::joint_load

private

Definition at line 208 of file SimJoint.h.

lowerLimit1

interfaces::sReal mars::sim::SimJoint::lowerLimit1

private

Definition at line 203 of file SimJoint.h.

lowerLimit2

interfaces::sReal mars::sim::SimJoint::lowerLimit2

private

Definition at line 203 of file SimJoint.h.

motor_torque

interfaces::sReal mars::sim::SimJoint::motor_torque

private

Definition at line 209 of file SimJoint.h.

node1ToAnchor

utils::Vector mars::sim::SimJoint::node1ToAnchor

private

Definition at line 211 of file SimJoint.h.

physical_joint

interfaces::JointInterface* mars::sim::SimJoint::physical_joint

private

Definition at line 198 of file SimJoint.h.

position1

interfaces::sReal mars::sim::SimJoint::position1

private

Definition at line 201 of file SimJoint.h.

position2

interfaces::sReal mars::sim::SimJoint::position2

private

Definition at line 201 of file SimJoint.h.

pushToDataBroker

int mars::sim::SimJoint::pushToDataBroker

private

Definition at line 212 of file SimJoint.h.

sJoint

interfaces::JointData mars::sim::SimJoint::sJoint

private

Definition at line 197 of file SimJoint.h.

snode1

SimNode* mars::sim::SimJoint::snode1

private

Definition at line 199 of file SimJoint.h.

snode2

SimNode * mars::sim::SimJoint::snode2

private

Definition at line 199 of file SimJoint.h.

t1

utils::Vector mars::sim::SimJoint::t1

private

Definition at line 207 of file SimJoint.h.

t2

utils::Vector mars::sim::SimJoint::t2

private

Definition at line 207 of file SimJoint.h.

upperLimit1

interfaces::sReal mars::sim::SimJoint::upperLimit1

private

Definition at line 203 of file SimJoint.h.

upperLimit2

interfaces::sReal mars::sim::SimJoint::upperLimit2

private

Definition at line 203 of file SimJoint.h.

velocity1

interfaces::sReal mars::sim::SimJoint::velocity1

private

Definition at line 202 of file SimJoint.h.

velocity2

interfaces::sReal mars::sim::SimJoint::velocity2

private

Definition at line 202 of file SimJoint.h.

---

The documentation for this class was generated from the following files:

• /Developer/bob-learning-dev/simulation/mars/sim/src/core/SimJoint.h
• /Developer/bob-learning-dev/simulation/mars/sim/src/core/SimJoint.cpp