mc_rbdyn::CompoundJointConstraintDescription Struct Reference

#include <mc_rbdyn/CompoundJointConstraintDescription.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	j1
std::string	j2
Eigen::Vector2d	p1
Eigen::Vector2d	p2

Detailed Description

Describe a compound joint constraint

This defines:

1. a pair of joint names (q1, q2)
2. a pair of 2D points (p1, p2)

The constraint is that:

\[ (q - p1) \times (p2 - p1) \leqslant 0 \]

Where \( q = \begin{bmatrix} q1 q2 \end{bmatrix} \)

Member Data Documentation

j1

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string mc_rbdyn::CompoundJointConstraintDescription::j1

j2

std::string mc_rbdyn::CompoundJointConstraintDescription::j2

p1

Eigen::Vector2d mc_rbdyn::CompoundJointConstraintDescription::p1

p2

Eigen::Vector2d mc_rbdyn::CompoundJointConstraintDescription::p2

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

• include/mc_rbdyn/CompoundJointConstraintDescription.h