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 112 of file model.h.

Member Data Documentation

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

The link this joint applies to.

Definition at line 124 of file model.h.

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

The name of the new joint.

Definition at line 115 of file model.h.

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 121 of file model.h.

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 118 of file model.h.

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The documentation for this struct was generated from the following file:

• model.h