raisim::TendonCoupling

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

Constrains the length of one tendon to a polynomial of another tendon's length. Created by World::addTendonCoupling(); the world owns it.

Nested classes

• struct Properties — Coupling parameters, validated by setProperties().

Public member functions

getName

const std::string &getName() const

Returns the coupling name.

getFirst

Tendon *getFirst() const

Returns the tendon whose length is constrained (L1).

getSecond

Tendon *getSecond() const

Returns the driving tendon (L2), or nullptr. Null fixes the first length.

getProperties

const Properties &getProperties() const

Returns the coupling properties.

setProperties

void setProperties(const Properties &properties)

Replace the coupling properties.

Parameters

Parameter	Description
properties (in)	new properties. Throws std::invalid_argument for non-finite coefficients, negative compliance or positionCorrection outside [0, 1].

getForce

double getForce() const

Returns the coupling force applied to the first tendon in the last step.