upkie::cpp::actuation::bullet::JointProperties Struct Reference

Properties for robot joints in the Bullet simulation. More...

#include <JointProperties.h>

Public Member Functions
	JointProperties ()=default
	Default constructor for properties initialized to default values.
	JointProperties (const Dictionary &config)
	Initialize configurable properties from a dictionary. More...
void	update_configurable (const JointProperties &other) noexcept
	Update configurable properties from another instance. More...
void	reset_configurable () noexcept
	Reset configurable properties.

Public Attributes
double	friction = 0.0
	Kinetic friction, in [N m].
double	maximum_torque = 0.0
	Maximum torque, in [N m].
double	torque_control_noise = 0.0
	Standard deviation of white noise added to applied torques, in [N m].
double	torque_measurement_noise = 0.0
	Standard deviation of white noise added to measured torques, in [N m].

Detailed Description

Properties for robot joints in the Bullet simulation.

Constructor & Destructor Documentation

JointProperties()

upkie::cpp::actuation::bullet::JointProperties::JointProperties ( const Dictionary &  config )

inlineexplicit

Initialize configurable properties from a dictionary.

Parameters

[in]

config

Configuration dictionary.

Member Function Documentation

update_configurable()

void upkie::cpp::actuation::bullet::JointProperties::update_configurable ( const JointProperties &  other )

inlinenoexcept

Update configurable properties from another instance.

Parameters

[in]

other

Properties to update from.

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

• upkie/cpp/actuation/bullet/JointProperties.h