#include <defaultCaterpillar.h>
Public Attributes | |
int | segmNumber |
number of snake elements | |
double | segmLength |
length of one snake element | |
double | segmDia |
diameter of a snake element | |
double | segmMass |
mass of one snake element | |
double | motorPower |
power of the motors / servos | |
double | sensorFactor |
scale for sensors | |
double | frictionGround |
friction with ground | |
double | frictionJoint |
friction within joint | |
double | jointLimit |
maximal angle for the joints (M_PI/2 = 90 degree) | |
int | firstJoint |
first joint type to use: 0=sliderJoint, 1=universalJoint |
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first joint type to use: 0=sliderJoint, 1=universalJoint
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friction with ground
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friction within joint
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maximal angle for the joints (M_PI/2 = 90 degree)
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power of the motors / servos
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diameter of a snake element
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length of one snake element
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mass of one snake element
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number of snake elements
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scale for sensors
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