Joint properties (see also joint limits). More...

Public Member Functions
def	__init__ (self, int index, int idx_q, int idx_v, str name, JointLimit limit, Optional["Link"] parent_link=None, Optional["Link"] child_link=None, Optional["SE3"] transform_child_to_parent=None)
	Manual constructor for joint properties. More...

Public Attributes
	child_link
	Child link in the kinematic tree. More...

	idx_q
	Index of the joint in configuration vectors.

	idx_v
	Index of the joint in tangent (velocity, torque) vectors.

	index
	Index of the joint in the servo layout. More...

	limit
	Joint limit in configuration and tangent spaces.

	name
	Name of the joint.

	parent_link
	Parent link in the kinematic tree. More...

	transform_child_to_parent
	SE3 transform from the child link frame to the parent link frame, as specified by the joint's `<origin>` element in the URDF. More...

Detailed Description

Joint properties (see also joint limits).

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

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

Public Member Functions