DcDofState

Fully qualified name: omni::isaac::dynamic_control::DcDofState

struct DcDofState

State of a degree of freedom.

Contains the position, velocity, and effort of a degree of freedom

Public Members

float pos

DOF position, in radians if it’s a revolute DOF, or meters, if it’s a prismatic DOF.

float vel

DOF velocity, in radians/s if it’s a revolute DOF, or m/s, if it’s a prismatic DOF.

float effort

DOF effort, torque if it’s a revolute DOF, or force if it’s a prismatic DOF.