mj_kdl::CtrlModeSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
CtrlMode	mode = CtrlMode::TORQUE
std::vector< std::string >	joints
double	kv = 0.0

Detailed Description

A control mode for RobotSpec::modes or AttachmentSpec::modes. joints empty = every joint the robot's or attachment's own MJCF actuates. kv is the VELOCITY actuator's gain [N m s/rad], required for VELOCITY.

Definition at line 121 of file mj_kdl_wrapper.hpp.

Member Data Documentation

joints

std::vector<std::string> mj_kdl::CtrlModeSpec::joints

Definition at line 124 of file mj_kdl_wrapper.hpp.

kv

double mj_kdl::CtrlModeSpec::kv = 0.0

Definition at line 125 of file mj_kdl_wrapper.hpp.

mode

CtrlMode mj_kdl::CtrlModeSpec::mode = CtrlMode::TORQUE

Definition at line 123 of file mj_kdl_wrapper.hpp.

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp