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

#include <model.h>

Public Attributes

std::string child_link_
 The link this joint applies to. More...
 
std::string name_
 The name of the new joint. More...
 
std::string parent_frame_
 The transform applied by this joint to the robot model brings that model to a particular frame. More...
 
std::string type_
 The type of this new joint. This can be "fixed" (0 DOF), "planar" (3 DOF: x,y,yaw) or "floating" (6DOF) More...
 

Detailed Description

In addition to the joints specified in the URDF it is sometimes convenient to add special (virtual) joints. For example, to connect the robot to the environment in a meaningful way.

Definition at line 174 of file model.h.

Member Data Documentation

◆ child_link_

std::string srdf::Model::VirtualJoint::child_link_

The link this joint applies to.

Definition at line 186 of file model.h.

◆ name_

std::string srdf::Model::VirtualJoint::name_

The name of the new joint.

Definition at line 177 of file model.h.

◆ parent_frame_

std::string srdf::Model::VirtualJoint::parent_frame_

The transform applied by this joint to the robot model brings that model to a particular frame.

Definition at line 183 of file model.h.

◆ type_

std::string srdf::Model::VirtualJoint::type_

The type of this new joint. This can be "fixed" (0 DOF), "planar" (3 DOF: x,y,yaw) or "floating" (6DOF)

Definition at line 180 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