[ODE] Imposing Joint Velocity Limits

[Bram Stolk]

Hmmm....
What I would do:

Get derivative of hinge angle (this is in api),
If >x then set desired angular velocity to x, with a large
Fmax. (also in api)

So everything is already there, in ode


  Bram


-----Original Message-----
From: "Andrew Maas" <amaas at andrew.cmu.edu>
To: "ode at q12.org" <ode at q12.org>
Sent: 30-05-06 18:47
Subject: [ODE] Imposing Joint Velocity Limits

I have hinge joints and I would like to stop them from moving faster than
some number of radians per second. I couldn't think of a simple way to do
this, or even to determine the current velocity of a joint. Would I have to
do some complex calculations using the information I can get about the
angular velocities of the bodies, or is this a simpler way to do this?

thanks
-- 
Andrew Maas
Carnegie Mellon University
School of Computer Science