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 # rocky\_joint\_scalars

 Last update: 17.07.2025 

<a id="l00001" name="l00001"></a> 1\#pragma once

<a id="l00002" name="l00002"></a> 2 

<a id="l00003" name="l00003"></a> 3// Includes ========================================================================================

<a id="l00004" name="l00004"></a> 4\#include "rocky\_scalars.h"

<a id="l00005" name="l00005"></a> 5 

<a id="l00006" name="l00006"></a> 6 

<a id="l00007" name="l00007"></a> 7// =================================================================================================

<a id="l00008" name="l00008"></a> 8// IRockyJointScalarsModel

<a id="l00009" name="l00009"></a> 9// =================================================================================================

<a id="l00010" name="l00010"></a> 10 

<a id="l00018" name="l00018"></a>[ 18](structIRockyJointScalarsModel.xhtml)struct [IRockyJointScalarsModel](structIRockyJointScalarsModel.xhtml) : ScalarsModel&lt;rocky20::JointScalarsController&gt;

<a id="l00019" name="l00019"></a> 19{

<a id="l00022" name="l00022"></a> 22 [IRockyJointScalarsModel](structIRockyJointScalarsModel.xhtml)(RockyModel* solver_model);

<a id="l00023" name="l00023"></a> 23 

<a id="l00026" name="l00026"></a> 26\#ifdef ONLY\_FOR\_DOXYGEN

<a id="l00027" name="l00027"></a> 27 

<a id="l00029" name="l00029"></a>[ 29](structIRockyJointScalarsModel.xhtml#ac684ddb11f55d3edbbb5606ea6ea633a) int [find](structIRockyJointScalarsModel.xhtml#ac684ddb11f55d3edbbb5606ea6ea633a)(const char* name);

<a id="l00030" name="l00030"></a> 30 

<a id="l00032" name="l00032"></a>[ 32](structIRockyJointScalarsModel.xhtml#a31fa0b2b6d8243aa4bc8513edf3c6b0c) int [add](structIRockyJointScalarsModel.xhtml#a31fa0b2b6d8243aa4bc8513edf3c6b0c)(const char* name, const char* unit, bool output = true);

<a id="l00033" name="l00033"></a> 33 

<a id="l00035" name="l00035"></a>[ 35](structIRockyJointScalarsModel.xhtml#ad8c7b148adb48869b7d0d7b4ccea6280) void [reset](structIRockyJointScalarsModel.xhtml#ad8c7b148adb48869b7d0d7b4ccea6280)(int scalar_index);

<a id="l00036" name="l00036"></a> 36 

<a id="l00038" name="l00038"></a>[ 38](structIRockyJointScalarsModel.xhtml#af5bcf3383dfd931122762e839dd0750b) void [set\_dimension](structIRockyJointScalarsModel.xhtml#af5bcf3383dfd931122762e839dd0750b)(int scalar_index, double dimension_factor);

<a id="l00039" name="l00039"></a> 39 

<a id="l00040" name="l00040"></a> 40\#endif 

<a id="l00041" name="l00041"></a> 41};



<a id="l00042" name="l00042"></a> 42 

<a id="l00043" name="l00043"></a> 43// =================================================================================================

<a id="l00044" name="l00044"></a> 44// IRockyJointScalars

<a id="l00045" name="l00045"></a> 45// =================================================================================================

<a id="l00046" name="l00046"></a> 46 

<a id="l00052" name="l00052"></a>[ 52](structIRockyJointScalars.xhtml)struct [IRockyJointScalars](structIRockyJointScalars.xhtml) : EntityScalars&lt;rocky20::JointScalars&gt;

<a id="l00053" name="l00053"></a> 53{

<a id="l00056" name="l00056"></a> 56 __host__ __device__

<a id="l00057" name="l00057"></a> 57 [IRockyJointScalars](structIRockyJointScalars.xhtml)(rocky20::JointScalars &amp;_scalars, int _element_index) :

<a id="l00058" name="l00058"></a> 58 EntityScalars&lt; rocky20::JointScalars&gt;(_scalars, _element_index)

<a id="l00059" name="l00059"></a> 59 {}

<a id="l00060" name="l00060"></a> 60 

<a id="l00063" name="l00063"></a> 63\#ifdef ONLY\_FOR\_DOXYGEN

<a id="l00064" name="l00064"></a> 64 

<a id="l00066" name="l00066"></a>[ 66](structIRockyJointScalars.xhtml#a99bd176be9958223d6dc2a9e62f7ec30) ROCKY_FUNCTIONS double [get\_scalar](structIRockyJointScalars.xhtml#a99bd176be9958223d6dc2a9e62f7ec30)(int scalar_index) const;

<a id="l00067" name="l00067"></a> 67 

<a id="l00069" name="l00069"></a>[ 69](structIRockyJointScalars.xhtml#a41d7ac3675a9d3ee3e79cd79c9de1f26) ROCKY_FUNCTIONS void [set\_scalar](structIRockyJointScalars.xhtml#a41d7ac3675a9d3ee3e79cd79c9de1f26)(int scalar_index, double value) const;

<a id="l00070" name="l00070"></a> 70 

<a id="l00072" name="l00072"></a>[ 72](structIRockyJointScalars.xhtml#abc05fdd6e7595ea79f4fa0aeafd93552) ROCKY_FUNCTIONS void [add\_scalar](structIRockyJointScalars.xhtml#abc05fdd6e7595ea79f4fa0aeafd93552)(int scalar_index, double value) const;

<a id="l00073" name="l00073"></a> 73 

<a id="l00075" name="l00075"></a>[ 75](structIRockyJointScalars.xhtml#a5e95059b8068dc460f40119e2a58d32f) ROCKY_FUNCTIONS void [max\_scalar](structIRockyJointScalars.xhtml#a5e95059b8068dc460f40119e2a58d32f)(int scalar_index, double value) const;

<a id="l00076" name="l00076"></a> 76 

<a id="l00077" name="l00077"></a> 77\#endif

<a id="l00078" name="l00078"></a> 78};



[IRockyJointScalarsModel](structIRockyJointScalarsModel.xhtml)

**Definition** rocky_joint_scalars.hpp:19



[IRockyJointScalarsModel::add](structIRockyJointScalarsModel.xhtml#a31fa0b2b6d8243aa4bc8513edf3c6b0c)

int add(const char *name, const char *unit, bool output=true)



[IRockyJointScalarsModel::find](structIRockyJointScalarsModel.xhtml#ac684ddb11f55d3edbbb5606ea6ea633a)

int find(const char *name)



[IRockyJointScalarsModel::reset](structIRockyJointScalarsModel.xhtml#ad8c7b148adb48869b7d0d7b4ccea6280)

void reset(int scalar_index)



[IRockyJointScalarsModel::set\_dimension](structIRockyJointScalarsModel.xhtml#af5bcf3383dfd931122762e839dd0750b)

void set_dimension(int scalar_index, double dimension_factor)



[IRockyJointScalars](structIRockyJointScalars.xhtml)

**Definition** rocky_joint_scalars.hpp:53



[IRockyJointScalars::set\_scalar](structIRockyJointScalars.xhtml#a41d7ac3675a9d3ee3e79cd79c9de1f26)

ROCKY_FUNCTIONS void set_scalar(int scalar_index, double value) const



[IRockyJointScalars::max\_scalar](structIRockyJointScalars.xhtml#a5e95059b8068dc460f40119e2a58d32f)

ROCKY_FUNCTIONS void max_scalar(int scalar_index, double value) const



[IRockyJointScalars::get\_scalar](structIRockyJointScalars.xhtml#a99bd176be9958223d6dc2a9e62f7ec30)

ROCKY_FUNCTIONS double get_scalar(int scalar_index) const



[IRockyJointScalars::add\_scalar](structIRockyJointScalars.xhtml#abc05fdd6e7595ea79f4fa0aeafd93552)

ROCKY_FUNCTIONS void add_scalar(int scalar_index, double value) const