raisim::Tendon::PathElement

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

One element of a spatial tendon route. Create elements with the static factory functions.

Public types

Kind

enum class Kind

Site: via point. Sphere/Cylinder: wrapping obstacle (must sit between two via sites). Pulley: starts a new branch.

Enumerator
Site
Sphere
Cylinder
Pulley

Public member functions

withSideSite

PathElement &withSideSite(const Site &side)

Set the side site of a wrapping obstacle.

Parameters

Parameter	Description
side (in)	side site

Returns *this for chaining.

Static member functions

via static

static PathElement via(const Site &site)

Parameters

Parameter	Description
site (in)	via-point location

Returns a via-point element at site.

sphere static

static PathElement sphere(const Site &center, double radius)

Parameters

Parameter	Description
center (in)	sphere center
radius (in)	sphere radius (m)

Returns a spherical wrapping obstacle.

cylinder static

static PathElement cylinder(
    const Site &center,
    double radius,
    const Vec<3> &axis={0., 0., 1.})

Parameters

Parameter	Description
center (in)	cylinder center
radius (in)	cylinder radius (m)
axis (in)	cylinder axis in the obstacle's body frame (normalized when the tendon is created)

Returns a cylindrical wrapping obstacle.

pulley static

static PathElement pulley(double divisor)

Parameters

Parameter	Description
divisor (in)	positive length divisor for the following branch

Returns a pulley element that starts a new branch.

Public attributes

kind

Kind kind

Element kind.

site

Site site

Via-point location, or the obstacle center for Sphere/Cylinder.

radius

double radius

Obstacle radius in meters (Sphere/Cylinder only; must be positive).

axis

Vec<3> axis

Cylinder axis in the obstacle's body frame.

hasSideSite

bool hasSideSite

True if sideSite is set (see withSideSite()).

sideSite

Site sideSite

Optional site that selects which side of the obstacle the tendon wraps around.

divisor

double divisor

Pulley only: lengths of the branch that follows are scaled by 1/divisor (must be positive).