Robot Simulator of the Robotics Group for Self-Organization of Control: CaterPillarConf Struct Reference

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# CaterPillarConf Struct Reference

`#include <defaultCaterpillar.h>`

List of all members.

## 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

## Member Data Documentation

int firstJoint

first joint type to use: 0=sliderJoint, 1=universalJoint

double frictionGround

friction with ground

double frictionJoint

friction within joint

double jointLimit

maximal angle for the joints (M_PI/2 = 90 degree)

double motorPower

power of the motors / servos

double segmDia

diameter of a snake element

double segmLength

length of one snake element

double segmMass

mass of one snake element

int segmNumber

number of snake elements

double sensorFactor

scale for sensors

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

- defaultCaterpillar.h