fsb::Joint Struct Reference

Detailed Description

Joint definition structure.

#include <fsb_joint.h>

Collaboration diagram for fsb::Joint:

Public Attributes
JointType	type
	Joint type.
Transform	parent_joint_transform
	Joint pose with respect to the parent body with offset from parent body.
Transform	nominal_parent_joint_transform
	Joint pose with respect to the parent body without offset.
size_t	parent_body_index
	Index of model parent body to which the joint is attached.
size_t	child_body_index
	Index of model child body to which the joint is connected.
size_t	coord_index
	Index of the joint's first generalized coordinate in the model joint space position vector JointSpacePosition.
size_t	dof_index
	Index of the joint's first differential generalized coordinate in the model joint space vector JointSpace.

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The documentation for this struct was generated from the following file:

• fsb-core/include/fsb_joint.h