clearpath_config.links.types.link module

class clearpath_config.links.types.link.BaseLink(name: str, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0])

Bases: Accessory

Base Link object contains all common methods for links.

Parameters

namestr

Required. Results in ‘{name}_link’ in URDF.

parentstr

Parent link in URDF.

xyz: List[float]

Translational offset from parent link.

rpy: List[float]

Rotational offset from parent link.

offset_xyz: List[float]

Translational offset of visual w.r.t. link.

offset_rpy: List[float]

Rotational offset of visual w.r.t. link.

Attributes

LINK_TYPEstr

Type of string used to generate URDF link.

LINK_TYPE = 'base'

OFFSET_RPY = [0.0, 0.0, 0.0]

OFFSET_XYZ = [0.0, 0.0, 0.0]

from_dict(d: dict) → None

classmethod get_link_type() → str

get_offset_xyz() → List[float]

set_offset_rpy(rpy: List[float]) → None

set_offset_xyz(xyz: List[float]) → None

to_dict() → dict