#include <model.h>
Public Attributes | |
std::string | child_link_ |
The link this joint applies to. | |
std::string | name_ |
The name of the new joint. | |
std::string | parent_frame_ |
The transform applied by this joint to the robot model brings that model to a particular frame. | |
std::string | type_ |
The type of this new joint. This can be "fixed" (0 DOF), "planar" (3 DOF: x,y,yaw) or "floating" (6DOF) |
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.
std::string srdf::Model::VirtualJoint::child_link_ |
std::string srdf::Model::VirtualJoint::name_ |
std::string srdf::Model::VirtualJoint::parent_frame_ |
std::string srdf::Model::VirtualJoint::type_ |