raisim::Tendon::JointGradient

struct · #include <raisim/constraints/Tendon.hpp>

Length gradient with respect to one joint of a fixed tendon.

Public attributes

system

ArticulatedSystem *system

Articulated system that owns the joint.

velocityIndex

size_t velocityIndex

Index of the joint in the generalized velocity.

coordinateIndex

size_t coordinateIndex

Index of the joint in the generalized coordinate.

coefficient

double coefficient

d(length)/d(joint coordinate).