JointMotorSettings struct
#include <esp/physics/ArticulatedObject.h>
Stores JointMotor (i.e. per-DoF PD control) parameters for creation and updates.
Constructors, destructors, conversion operators
- JointMotorSettings() defaulted
- JointMotorSettings(double _positionTarget, double _positionGain, double _velocityTarget, double _velocityGain, double _maxImpulse)
- constructor for single dof motor settings
-
JointMotorSettings(const Mn::
Quaternion& _sphericalPositionTarget, double _positionGain, const Mn:: Vector3& _sphericalVelocityTarget, double _velocityGain, double _maxImpulse) - constructor for spherical motor settings
Public variables
- JointMotorType motorType
- double positionTarget
- Single DoF joint position target.
-
Mn::
Quaternion sphericalPositionTarget - Spherical joint position target.
- double positionGain
- Position (proportional) gain Kp.
- double velocityTarget
- Single DoF joint velocity target. Zero acts like joint damping/friction.
-
Mn::
Vector3 sphericalVelocityTarget - Spherical joint velocity target.
- double velocityGain
- Velocity (derivative) gain Kd.
- double maxImpulse
Variable documentation
JointMotorType esp::
The type of motor parameterized by these settings. Determines which parameters to use.
double esp::
The maximum impulse applied by this motor. Should be tuned relative to physics timestep.