Base unit for kinematic sensors and actors. More...

Data Structures

class  KinematicUnit
 The KinematicUnit class. More...
 

Detailed Description

Base unit for kinematic sensors and actors.

KinematicUnits are SensorActorUnits which provide sensory data in terms of joints angles, joint velocities and joint forces. Further target joint angles and velocities can be controlled.

The KinematicUnit retrieves its configuration from a VirtualRobot robot model. Within the model, the joints, the unit controls are defined with a RobotNodeSet.