syntax = "proto2"; package rst.dynamics; option java_outer_classname = "JointImpedanceType"; /** * Stiffness and damping values of multiple joints. * * @author Christian Emmerich * @todo "what is SI unit of rotatory damping?" */ // @constraint(len(.stiffness) == len(.damping)) // @create_collection message JointImpedance { /** * Stiffness values of multiple joints. * * (Same joints and same order as @ref .damping) */ // @unit(TODO) repeated float stiffness = 1; /** * Damping values of multiple joints * * (Same joints and same order as @ref .stiffness) */ // @unit(newton-meter / rad) repeated float damping = 2; }