LuaJoint
Body type for use in lua scripting.
See ScriptController and ScriptMeasure for details on scripting.
Public Functions
Function | Description |
---|---|
LuaString name() | get the name of the body |
LuaVec3 pos() | get the current com position [m] |
LuaVec3 reaction_force() | get the joint reaction force vector [N] |
LuaVec3 limit_torque() | get the joint limit torque vector [Nm] |
Real limit_power() | get the joint limit power [W] |
Real load() | get the joint load [BW] |
bool has_motor() | check if this joint has a motor |
void set_motor_target_ori(const LuaQuat &o) | set target orientation of the joint motor |
void set_motor_target_vel(const LuaVec3 &v) | set target velocity of the joint motor |
void add_motor_torque(const LuaVec3 &v) | set target velocity of the joint motor |
void set_motor_stiffness(LuaNumber kp) | set stiffness of the joint motor |
void set_motor_damping(LuaNumber kd) | set damping of the joint motor |
Converted from doxygen using dokugen