raisim::Tendon::PointGradient

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

Length gradient with respect to one world-space application point.

Public attributes

site

Site site

Site the point belongs to. For wrap tangent points, position is the tangent point in the obstacle's body frame.

position

Vec<3> position

World-space application point.

gradient

Vec<3> gradient

d(length)/d(point position), including pulley scaling.