raisim::Tendon::JointTerm

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

One term of a fixed tendon: length += coefficient * q(joint). Only revolute and prismatic joints are supported.

Public attributes

system

ArticulatedSystem *system

Articulated system that owns the joint (must be in the same world).

joint

std::string joint

Joint name in system.

coefficient

double coefficient

Weight of the joint coordinate in the tendon length.