occtl_joint_info Struct Reference

#include <occtl_topo_build.h>

Collaboration diagram for occtl_joint_info:

Public Attributes
uint32_t	struct_version
const void *	p_next
occtl_joint_id_t	id
occtl_joint_kind_t	kind
occtl_node_id_t	node_a
occtl_node_id_t	node_b
occtl_transform_t	frame_a
occtl_transform_t	frame_b
int32_t	has_limit_min
double	limit_min
int32_t	has_limit_max
double	limit_max
occtl_uid_t	metadata_uid

Detailed Description

Assembly joint record stored in graph-owned metadata.

The endpoint nodes may be products, occurrences, or topology nodes. Frames are local joint frames on the respective endpoints. Limits are optional and are interpreted in radians for rotational joints and graph length units for translational joints.

Member Data Documentation

frame_a

occtl_transform_t occtl_joint_info::frame_a

Local joint frame on node_a.

frame_b

occtl_transform_t occtl_joint_info::frame_b

Local joint frame on node_b.

has_limit_max

int32_t occtl_joint_info::has_limit_max

0/1; whether limit_max is valid.

has_limit_min

int32_t occtl_joint_info::has_limit_min

0/1; whether limit_min is valid.

id

occtl_joint_id_t occtl_joint_info::id

Joint identity. Ignored by create; filled by get/list.

kind

occtl_joint_kind_t occtl_joint_info::kind

Joint motion kind.

limit_max

double occtl_joint_info::limit_max

Optional upper motion limit.

limit_min

double occtl_joint_info::limit_min

Optional lower motion limit.

metadata_uid

occtl_uid_t occtl_joint_info::metadata_uid

Optional custom metadata UID, or invalid.

node_a

occtl_node_id_t occtl_joint_info::node_a

First endpoint node.

node_b

occtl_node_id_t occtl_joint_info::node_b

Second endpoint node.

p_next

const void* occtl_joint_info::p_next

Reserved; set to NULL.

struct_version

uint32_t occtl_joint_info::struct_version

Must be OCCTL_JOINT_INFO_VERSION_1.

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

• include/occtl/occtl_topo_build.h