raisim::TrackDrive

struct · #include <raisim/object/ArticulatedSystem/Track.hpp>

A joint that moves the belt of a track: it adds gain * (joint velocity) to the belt speed.

Public attributes

joint

std::string joint

Joint name (a revolute, continuous or prismatic joint of the same articulated system).

gain

double gain

Belt speed per unit joint velocity: the pitch radius [m] for a revolute joint, a ratio for a prismatic joint. Negative values run the belt backwards.

gvIndex

size_t gvIndex

Generalized-velocity index of the joint.

bodyIdx

size_t bodyIdx

Local index of the body the joint moves.