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.

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

Public Member Functions