Struct CollisionCatalogEntry

• Defined in File pf_kinematics.hpp

Struct Documentation

struct CollisionCatalogEntry

An entry in the per-link collision catalog built from the URDF.

Public Members

std::string id

Unique obstacle ID (e.g. “link1::col0”).

std::string linkName

Name of the URDF link this collision belongs to.

urdf::CollisionSharedPtr col

URDF collision element (geometry + origin).