Struct Model::VirtualJoint

Defined in File model.h

Nested Relationships

This struct is a nested type of Class Model.

Struct Documentation

struct VirtualJoint

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.

Public Members

std::string name_: The name of the new joint.

std::string type_: The type of this new joint. This can be “fixed” (0 DOF), “planar” (3 DOF: x,y,yaw) or “floating” (6DOF)

std::string parent_frame_: The transform applied by this joint to the robot model brings that model to a particular frame.

std::string child_link_: The link this joint applies to.