raisim::TendonCoupling::Properties

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

Coupling parameters, validated by setProperties().

Public attributes

coefficients

std::array<double, 5> coefficients

L1 - reference1 = sum(coefficients[i] * (L2 - reference2)^i).

compliance

double compliance

Inverse stiffness of the coupling; zero gives a hard constraint.

positionCorrection

double positionCorrection

Fraction of the coupling error corrected per step, in [0, 1].

enabled

bool enabled

False disables the coupling.