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Joints

The function int p3d_get_robot_njnt(void)   returns the number of joints of the current robot.

The function int p3d_get_robot_jnt_type(int i)   returns the type (P3D_ROTATE or P3D_TRANSLATE) of the i-th joint of the current robot. The function void p3d_get_robot _jnt_bounds(int i, double *vmin, double *vmax)   returns the minimum and maximum bounds of the i-th joint of the current robot.



Nicola Simeon
Fri Oct 27 09:07:38 MET DST 2000