Class Joint

Defined in File joint.h

Class Documentation

class Joint

Public Types

Values:

enumerator UNKNOWN

enumerator REVOLUTE

enumerator CONTINUOUS

enumerator PRISMATIC

enumerator FLOATING

enumerator PLANAR

enumerator FIXED

Public Functions

inline Joint()

inline void clear()

Public Members

std::string name

enum urdf::Joint type

Vector3 axis

std::string child_link_name: child Link element child link frame is the same as the Joint frame

std::string parent_link_name: parent Link element origin specifies the transform from Parent Link to Joint Frame

Pose parent_to_joint_origin_transform: transform from Parent Link frame to Joint frame

JointDynamicsSharedPtr dynamics: Joint Dynamics.

JointLimitsSharedPtr limits: Joint Limits.

JointSafetySharedPtr safety: Unsupported Hidden Feature.

JointCalibrationSharedPtr calibration: Unsupported Hidden Feature.

JointMimicSharedPtr mimic: Option to Mimic another Joint.