All joint information parsed from the mjcf model. More...

#include <mjcf-graph.hpp>

Public Types
typedef boost::property_tree::ptree	ptree

Public Member Functions
void	fill (const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)

void	goThroughElement (const ptree &el, bool use_limits, const MjcfCompiler &currentCompiler)
	Go through a joint node (default class or not) and parse info into the structure. More...

Public Attributes
Eigen::Vector3d	axis = Eigen::Vector3d::UnitZ()

std::string	jointName = "free"

SE3	jointPlacement = SE3::Identity()

std::string	jointType = "hinge"

double	posRef = 0.

RangeJoint	range {1}

Detailed Description

All joint information parsed from the mjcf model.

Definition at line 173 of file mjcf-graph.hpp.

Member Typedef Documentation

◆ ptree

typedef boost::property_tree::ptree pinocchio::mjcf::details::MjcfJoint::ptree

Definition at line 176 of file mjcf-graph.hpp.

Member Function Documentation

◆ fill()

void pinocchio::mjcf::details::MjcfJoint::fill	(	const ptree &	el,
		const MjcfBody &	currentBody,
		const MjcfGraph &	currentGraph
	)

Parameters

el	ptree joint node
currentBody	body to which the joint belongs to
currentGraph	current Mjcf graph (needed to get compiler information)

Definition at line 229 of file mjcf-graph.cpp.

◆ goThroughElement()

void pinocchio::mjcf::details::MjcfJoint::goThroughElement	(	const ptree &	el,
		bool	use_limits,
		const MjcfCompiler &	currentCompiler
	)

Go through a joint node (default class or not) and parse info into the structure.

Parameters

el	ptree joint node
use_limits	whether to parse the limits or not

Definition at line 164 of file mjcf-graph.cpp.

Member Data Documentation

◆ axis

Eigen::Vector3d pinocchio::mjcf::details::MjcfJoint::axis = Eigen::Vector3d::UnitZ()

Definition at line 184 of file mjcf-graph.hpp.

◆ jointName

std::string pinocchio::mjcf::details::MjcfJoint::jointName = "free"

Definition at line 179 of file mjcf-graph.hpp.

◆ jointPlacement

SE3 pinocchio::mjcf::details::MjcfJoint::jointPlacement = SE3::Identity()

Definition at line 181 of file mjcf-graph.hpp.

◆ jointType

std::string pinocchio::mjcf::details::MjcfJoint::jointType = "hinge"

Definition at line 189 of file mjcf-graph.hpp.

◆ posRef

double pinocchio::mjcf::details::MjcfJoint::posRef = 0.

Definition at line 191 of file mjcf-graph.hpp.

◆ range

RangeJoint pinocchio::mjcf::details::MjcfJoint::range {1}

Definition at line 186 of file mjcf-graph.hpp.

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

Public Types

Public Member Functions

Public Attributes