UF_MOTION_joint_coupler_s (view source)
 
Defined in: uf_motion_types.h
 
Also known as:
 


Data Members

name [ UF_OBJ_NAME_BUFSIZE ]
char
The name of the joint coupler. If
NULL, a default name will be created.

jtc_type
UF_MOTION_joint_coupler_type_t
The type of the joint coupler.
See the enum definition.

joint_1
tag_t
The first joint of the coupler.
It can be a revolute, slider, or
cylindrical joint depending on the
coupler type.

joint_2
tag_t
The second joint of the coupler.
If joint_1 is a revolute or
slider joint, this joint can also
be a revolute or slider joint
depending on the coupler type. If
joint_1 is a cylindrical joint,
then this joint is ignored. If
the type is gear or rack and
pinion, the joints must have a
common link.

ratio
double
The constraint ratio between the
joints. It determines how far
joint_2 moves for a unit movement
of joint_1. If ratio is defined,
the contact point will be calculated
for gear and rack/pinion couplers,
otherwise, if the contact point is
defined, the ratio will be calculated.

origin_tag
tag_t
The smart point that defines the
origin of the contact point between
the joints. This is only used for
gear and rack/pinion couplers
currently. If defined, the ratio
will be calculated, otherwise, the
contact point will be calculated
if the ratio is defined. See uf.so.h
for creation of this object.

orientation_tag
tag_t
The orientation matrix that defines
the orientation at the contact
point between the two joints.
This is only used for gear and
rack/pinion couplers and is strictly
optional. A default orientation matrix
will be calculated if not defined.
Use UF_CSYS_create_matrix for the
creation of object.