Class JointCouplingInfo

• Defined in File KinematicsApi.h

Class Documentation

class JointCouplingInfo

struct to keep parameters of the joint dependencies for a robot.

Public Functions

inline JointCouplingInfo()

Default constructor to initialize joint coupling with default values.

inline JointCouplingInfo(const bool isEnable, const int referenceJoint, const double couplingRatio, const double couplingOffset)

Constructor to initialize joint coupling parameters.

Parameters:

• isEnable – [in] Flag to enable/disable joint coupling (true = enabled, false = disabled)

• referenceJoint – [in] ID of the reference joint that controls this joint’s motion

• couplingRatio – [in] The ratio between target joint and reference joint movement

• couplingOffset – [in] The offset value applied to the coupling relationship

Public Members

bool enable

Is exist of joint coupling of the robot.

int referenceJointID

Reference joint ID.

double ratio

The ratio between target joint and reference joint movement.

double offset

The offset value applied to the coupling relationship.