mc_rbdyn::Flexibility Struct Reference

#include <mc_rbdyn/Flexibility.h>

Public Attributes
std::string	jointName
double	K
double	C
double	O

Detailed Description

This structure holds a flexible joint, if such a joint is part of a robot, then the following dynamic constraint will be applied for the flexible joint torques:

\begin{align} \underline{\mathbf{\tau}} = \overline{\mathbf{\tau}} = -K\mathbf{q} -C\dot{\mathbf{q}} - O \end{align}

Member Data Documentation

C

double mc_rbdyn::Flexibility::C

Damping

jointName

std::string mc_rbdyn::Flexibility::jointName

Name of the joint

K

double mc_rbdyn::Flexibility::K

Stiffness

O

double mc_rbdyn::Flexibility::O

Bias

---

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

• include/mc_rbdyn/Flexibility.h