Public Attributes | List of all members
srdf::Model::Group Struct Reference

A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups. More...

#include <model.h>

Public Attributes

std::vector< std::pair< std::string, std::string > > chains_
 
std::vector< std::string > joints_
 
std::vector< std::string > links_
 
std::string name_
 The name of the group. More...
 
std::vector< std::string > subgroups_
 

Detailed Description

A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups.

Definition at line 140 of file model.h.

Member Data Documentation

◆ chains_

std::vector<std::pair<std::string, std::string> > srdf::Model::Group::chains_

Specify a chain of links (and the implicit joints) to be added to the group. Each chain is specified as a pair of base link and tip link. It is checked that the chain is indeed a chain in the specified URDF.

Definition at line 162 of file model.h.

◆ joints_

std::vector<std::string> srdf::Model::Group::joints_

Directly specified joints to be included in the group. Descendent links should be implicitly considered to be part of the group, although this parsed does not add them to links_. The joints are checked to be in the corresponding URDF.

Definition at line 150 of file model.h.

◆ links_

std::vector<std::string> srdf::Model::Group::links_

Directly specified links to be included in the group. Parent joints should be implicitly considered to be part of the group. The links are checked to be in the corresponding URDF.

Definition at line 156 of file model.h.

◆ name_

std::string srdf::Model::Group::name_

The name of the group.

Definition at line 143 of file model.h.

◆ subgroups_

std::vector<std::string> srdf::Model::Group::subgroups_

It is sometimes convenient to refer to the content of another group. A group can include the content of the referenced groups

Definition at line 167 of file model.h.


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


srdfdom
Author(s): Ioan Sucan , Guillaume Walck
autogenerated on Mon Oct 19 2020 03:26:07