RapyutaSimulationPlugins
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
FRRRobotJointProperty Struct Reference

The FRRRobotJointProperty struct. More...

#include <RREntityStructs.h>

Collaboration diagram for FRRRobotJointProperty:
Collaboration graph
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Public Member Functions

 FRRRobotJointProperty ()
 
 FRRRobotJointProperty (FString InName)
 
FTransform GetTransform () const
 
const FVector & GetAxis (bool bIsLocal=false) const
 
bool operator== (const FRRRobotJointProperty &JointProp)
 
bool operator== (const FString &String)
 
bool IsValid () const
 
ELinearConstraintMotion GetLinearConstraintMotion () const
 
EAngularConstraintMotion GetAngularConstraintMotion () const
 
FVector GetJointAxis (bool bIsGlobal=false, const FQuat &InLinkQuat=FQuat::Identity) const
 Get the Joint Axis object. More...
 
bool IsTwisting (const FVector &InAxis) const
 Twist(X), Swing1(Z), Swing2(Y) More...
 
bool IsSwing1 (const FVector &InAxis) const
 Twist(X), Swing1(Z), Swing2(Y) More...
 
bool IsSwing2 (const FVector &InAxis) const
 Twist(X), Swing1(Z), Swing2(Y) More...
 
void GetTwistSwing (bool &bOutTwist, bool &bOutSwing1, bool &bOutSwing2) const
 
void GetLinearXYZ (bool &bOutLinearX, bool &bOutLinearY, bool &bOutLinearZ) const
 
bool IsValidJointPosition (float InJointPos) const
 
bool IsValidJointVelocity (float InJointVelocity) const
 
void PrintSelf () const
 

Static Public Member Functions

static FORCEINLINE ERRRobotJointType GetERRRobotJointTypeValueFromString (const FString &InEnumStringValue)
 
static FORCEINLINE FString GetJointTypeName (const ERRRobotJointType InJointType)
 

Public Attributes

FString Name
 
ERRRobotJointType Type = ERRRobotJointType::NONE
 
ERRRobotJointStatus Status = ERRRobotJointStatus::INVALID
 
FVector Location = FVector::ZeroVector
 [cm] In URDF/SDF: Child Link's relative Location to its Parent More...
 
FQuat Rotation = FQuat::Identity
 [Quaternion] In URDF/SDF: Child Link's relative Rotation to its Parent More...
 
bool bIsTransformRelative = true
 Whether Rotation & Location are absolute or relative. More...
 
FString ParentLinkName
 
FString ChildLinkName
 
FString MimicJointName
 
float MimicMultiplier = 1.0f
 
float MimicOffset = 0.0f
 [cm] More...
 
FVector Axis = FVector::ZeroVector
 
FVector AxisInParentFrame = FVector::ZeroVector
 
float LowerLimit = 0.f
 [rad] for REVOLUTE joint, [m] for Prismatic Joint. (Both URDF and SDF) More...
 
float UpperLimit = 0.f
 [rad] for REVOLUTE joint, [m] for Prismatic Joint. (Both URDF and SDF) More...
 
FRRRobotJointDynamicProperties DynamicParams
 

Detailed Description

The FRRRobotJointProperty struct.

[rad] for REVOLUTE joint, [m] for Prismatic Joint. (Both URDF and SDF)

See also
http://sdformat.org/spec?ver=1.6&elem=joint
http://wiki.ros.org/urdf/XML/joint

USTRUCT(BlueprintType)

Constructor & Destructor Documentation

◆ FRRRobotJointProperty() [1/2]

FRRRobotJointProperty::FRRRobotJointProperty ( )
inline

◆ FRRRobotJointProperty() [2/2]

FRRRobotJointProperty::FRRRobotJointProperty ( FString  InName)
inline

Member Function Documentation

◆ GetAngularConstraintMotion()

EAngularConstraintMotion FRRRobotJointProperty::GetAngularConstraintMotion ( ) const
inline

◆ GetAxis()

const FVector& FRRRobotJointProperty::GetAxis ( bool  bIsLocal = false) const
inline

◆ GetERRRobotJointTypeValueFromString()

static FORCEINLINE ERRRobotJointType FRRRobotJointProperty::GetERRRobotJointTypeValueFromString ( const FString &  InEnumStringValue)
inlinestatic

◆ GetJointAxis()

FVector FRRRobotJointProperty::GetJointAxis ( bool  bIsGlobal = false,
const FQuat &  InLinkQuat = FQuat::Identity 
) const
inline

Get the Joint Axis object.

Parameters
bIsGlobal
InLinkQuat
Returns
FVector

◆ GetJointTypeName()

static FORCEINLINE FString FRRRobotJointProperty::GetJointTypeName ( const ERRRobotJointType  InJointType)
inlinestatic

◆ GetLinearConstraintMotion()

ELinearConstraintMotion FRRRobotJointProperty::GetLinearConstraintMotion ( ) const
inline

◆ GetLinearXYZ()

void FRRRobotJointProperty::GetLinearXYZ ( bool &  bOutLinearX,
bool &  bOutLinearY,
bool &  bOutLinearZ 
) const
inline

◆ GetTransform()

FTransform FRRRobotJointProperty::GetTransform ( ) const
inline

◆ GetTwistSwing()

void FRRRobotJointProperty::GetTwistSwing ( bool &  bOutTwist,
bool &  bOutSwing1,
bool &  bOutSwing2 
) const
inline

◆ IsSwing1()

bool FRRRobotJointProperty::IsSwing1 ( const FVector &  InAxis) const
inline

Twist(X), Swing1(Z), Swing2(Y)

See also
https://forums.unrealengine.com/t/can-someone-explain-swing-1-2-and-twist/103357/3
https://documentation.help/NVIDIA-PhysX-SDK-Guide/Joints.html
https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html

FPhysicsInterface_PhysX::GetCurrentSwing2

Parameters
InAxis
Returns
true
false

◆ IsSwing2()

bool FRRRobotJointProperty::IsSwing2 ( const FVector &  InAxis) const
inline

Twist(X), Swing1(Z), Swing2(Y)

See also
https://forums.unrealengine.com/t/can-someone-explain-swing-1-2-and-twist/103357/3
https://documentation.help/NVIDIA-PhysX-SDK-Guide/Joints.html
https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html

FPhysicsInterface_PhysX::GetCurrentSwing2

Parameters
InAxis
Returns
true
false

◆ IsTwisting()

bool FRRRobotJointProperty::IsTwisting ( const FVector &  InAxis) const
inline

Twist(X), Swing1(Z), Swing2(Y)

See also
https://forums.unrealengine.com/t/can-someone-explain-swing-1-2-and-twist/103357/3
https://documentation.help/NVIDIA-PhysX-SDK-Guide/Joints.html
https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html

FPhysicsInterface_PhysX::GetCurrentSwing2

Parameters
InAxis
Returns
true
false

◆ IsValid()

bool FRRRobotJointProperty::IsValid ( ) const
inline

◆ IsValidJointPosition()

bool FRRRobotJointProperty::IsValidJointPosition ( float  InJointPos) const
inline

◆ IsValidJointVelocity()

bool FRRRobotJointProperty::IsValidJointVelocity ( float  InJointVelocity) const
inline

◆ operator==() [1/2]

bool FRRRobotJointProperty::operator== ( const FRRRobotJointProperty &  JointProp)
inline

◆ operator==() [2/2]

bool FRRRobotJointProperty::operator== ( const FString &  String)
inline

◆ PrintSelf()

void FRRRobotJointProperty::PrintSelf ( ) const
inline

Member Data Documentation

◆ Axis

FVector FRRRobotJointProperty::Axis = FVector::ZeroVector

UPROPERTY(EditAnywhere)

◆ AxisInParentFrame

FVector FRRRobotJointProperty::AxisInParentFrame = FVector::ZeroVector

UPROPERTY(EditAnywhere)

◆ bIsTransformRelative

bool FRRRobotJointProperty::bIsTransformRelative = true

Whether Rotation & Location are absolute or relative.

UPROPERTY(EditAnywhere)

◆ ChildLinkName

FString FRRRobotJointProperty::ChildLinkName

UPROPERTY(EditAnywhere)

◆ DynamicParams

FRRRobotJointDynamicProperties FRRRobotJointProperty::DynamicParams

UPROPERTY(EditAnywhere)

◆ Location

FVector FRRRobotJointProperty::Location = FVector::ZeroVector

[cm] In URDF/SDF: Child Link's relative Location to its Parent

UPROPERTY(EditAnywhere)

◆ LowerLimit

float FRRRobotJointProperty::LowerLimit = 0.f

[rad] for REVOLUTE joint, [m] for Prismatic Joint. (Both URDF and SDF)

UPROPERTY(EditAnywhere)

◆ MimicJointName

FString FRRRobotJointProperty::MimicJointName

UPROPERTY(EditAnywhere)

◆ MimicMultiplier

float FRRRobotJointProperty::MimicMultiplier = 1.0f

UPROPERTY(EditAnywhere)

◆ MimicOffset

float FRRRobotJointProperty::MimicOffset = 0.0f

[cm]

UPROPERTY(EditAnywhere)

◆ Name

FString FRRRobotJointProperty::Name

UPROPERTY(EditAnywhere)

◆ ParentLinkName

FString FRRRobotJointProperty::ParentLinkName

UPROPERTY(EditAnywhere)

◆ Rotation

FQuat FRRRobotJointProperty::Rotation = FQuat::Identity

[Quaternion] In URDF/SDF: Child Link's relative Rotation to its Parent

UPROPERTY(EditAnywhere)

◆ Status

ERRRobotJointStatus FRRRobotJointProperty::Status = ERRRobotJointStatus::INVALID

UPROPERTY(VisibleAnywhere)

◆ Type

ERRRobotJointType FRRRobotJointProperty::Type = ERRRobotJointType::NONE

UPROPERTY(EditAnywhere)

◆ UpperLimit

float FRRRobotJointProperty::UpperLimit = 0.f

[rad] for REVOLUTE joint, [m] for Prismatic Joint. (Both URDF and SDF)

UPROPERTY(EditAnywhere)

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