upkie.model.joint.Joint Class Reference

Joint properties. More...

Public Member Functions
def	__init__ (self, int index, int idx_q, int idx_v, str name, JointLimit limit)
	Manual constructor for joint properties. More...

Public Attributes
	index
	Index of the joint in the servo layout. More...
	idx_q
	Index of the joint in configuration vectors.
	idx_v
	Index of the joint in tangent (velocity, torque) vectors.
	name
	Name of the joint.
	limit
	Joint limit in configuration and tangent spaces.

Detailed Description

Joint properties.

Extra indices in this class are provided as convenience for users familiar with Pinocchio.

Constructor & Destructor Documentation

__init__()

def upkie.model.joint.Joint.__init__	(		self,
		int	index,
		int	idx_q,
		int	idx_v,
		str	name,
		JointLimit	limit
	)

Manual constructor for joint properties.

(We don't use a dataclass because Doxygen does not detect attribute-only declarations in Python as of version 1.9.1.)

Member Data Documentation

index

upkie.model.joint.Joint.index

Index of the joint in the servo layout.

Starts from 1 as in Pinocchio.

---

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

• upkie/model/joint.py