Template Class UrdfVisitor

• Defined in File model.hxx

Inheritance Relationships

Base Type

• public pinocchio::urdf::details::UrdfVisitorBaseTpl< Scalar, Options > (Template Class UrdfVisitorBaseTpl)

Derived Type

• public pinocchio::urdf::details::UrdfVisitorWithRootJoint< Scalar, Options, JointCollectionTpl > (Template Class UrdfVisitorWithRootJoint)

Class Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
class UrdfVisitor : public pinocchio::urdf::details::UrdfVisitorBaseTpl<Scalar, Options>

Subclassed by pinocchio::urdf::details::UrdfVisitorWithRootJoint< Scalar, Options, JointCollectionTpl >

Public Types

typedef UrdfVisitorBaseTpl<Scalar, Options> Base

typedef Base::JointType JointType

typedef Base::Vector3 Vector3

typedef Base::VectorConstRef VectorConstRef

typedef Base::SE3 SE3

typedef Base::Inertia Inertia

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef Model::JointCollection JointCollection

typedef Model::JointModel JointModel

typedef Model::Frame Frame

Public Functions

inline UrdfVisitor(Model &model)

inline virtual void setName(const std::string &name)

inline virtual void addRootJoint(const Inertia &Y, const std::string &body_name)

inline virtual void addJointAndBody(JointType type, const Vector3 &axis, const FrameIndex &parentFrameId, const SE3 &placement, const std::string &joint_name, const Inertia &Y, const std::string &body_name, const VectorConstRef &max_effort, const VectorConstRef &max_velocity, const VectorConstRef &min_config, const VectorConstRef &max_config, const VectorConstRef &friction, const VectorConstRef &damping)

inline virtual void addFixedJointAndBody(const FrameIndex &parent_frame_id, const SE3 &joint_placement, const std::string &joint_name, const Inertia &Y, const std::string &body_name)

inline virtual void appendBodyToJoint(const FrameIndex fid, const Inertia &Y, const SE3 &placement, const std::string &body_name)

inline virtual FrameIndex getBodyId(const std::string &frame_name) const

Public Members

Model &model