phytrace_builder_set_actuators_joints

phytrace_sdk::ffi

Function phytrace_builder_set_actuators_joints 

Source 
#[unsafe(no_mangle)]
pub unsafe extern "C" fn phytrace_builder_set_actuators_joints(
    builder: *mut PhyTraceBuilderHandle,
    names_json: *const c_char,
    positions_json: *const c_char,
    velocities_json: *const c_char,
    efforts_json: *const c_char,
) -> i32
Expand description

Set the actuators domain with joint state data.

Joint arrays are passed as JSON-encoded arrays (e.g., ["joint1","joint2"] for names, [1.0, 2.0] for values). This simplifies the C interface for variable-length arrays.

§Parameters

  • names_json — JSON array of joint name strings, e.g. ["joint1","joint2"]
  • positions_json — JSON array of position values (radians), or null
  • velocities_json — JSON array of velocity values, or null
  • efforts_json — JSON array of effort/torque values, or null