raisim::EqualityConstraintDefinition
struct · #include <raisim/constraints/PinConstraint.hpp>
Description of an equality constraint inside an articulated system, as parsed from URDF. Like a pin, it ties a point on body1 to the coincident point on body2, but only along one or two axes fixed in body1's frame; the points may slide relative to each other in the other directions.
Public attributes
body1
cpp
std::string body1Name of the first body.
body2
cpp
std::string body2Name of the second body.
anchor
cpp
Vec<3> anchorAnchor position in body1's link frame at the nominal configuration.
axes
cpp
std::vector<Vec<3>> axesOne or two linearly independent constrained directions in body1's link frame.