Template Class UrdfVisitorBaseTpl

Defined in File model.hxx

Class Documentation

template<typename _Scalar, int Options> class UrdfVisitorBaseTpl

Public Types

enum JointType

Values:

enumerator REVOLUTE

enumerator CONTINUOUS

enumerator PRISMATIC

enumerator FLOATING

enumerator PLANAR

typedef _Scalar Scalar

typedef SE3Tpl<Scalar, Options> SE3

typedef InertiaTpl<Scalar, Options> Inertia

typedef Eigen::Matrix<Scalar, 3, 1> Vector3

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> Vector

typedef Eigen::Ref<Vector> VectorRef

typedef Eigen::Ref<const Vector> VectorConstRef

Public Functions

virtual void setName(const std::string &name) = 0

virtual void addRootJoint(const Inertia &Y, const std::string &body_name) = 0

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) = 0

virtual void addFixedJointAndBody(const FrameIndex &parentFrameId, const SE3 &joint_placement, const std::string &joint_name, const Inertia &Y, const std::string &body_name) = 0

virtual void appendBodyToJoint(const FrameIndex fid, const Inertia &Y, const SE3 &placement, const std::string &body_name) = 0

virtual FrameIndex getBodyId(const std::string &frame_name) const = 0

inline UrdfVisitorBaseTpl()

template<typename T> inline UrdfVisitorBaseTpl &operator<<(const T &t)

Public Members

std::ostream *log