chomp::ChompRobotModel::ChompJoint Struct Reference

Contains information about a single joint for CHOMP planning. More...

#include <chomp_robot_model.h>

List of all members.

Public Attributes
int	chomp_joint_index_
bool	has_joint_limits_
double	joint_limit_max_
double	joint_limit_min_
std::string	joint_name_
double	joint_update_limit_
const KDL::Joint *	kdl_joint_
int	kdl_joint_index_
std::string	link_name_
bool	wrap_around_

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Detailed Description

Contains information about a single joint for CHOMP planning.

Definition at line 54 of file chomp_robot_model.h.

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Member Data Documentation

int chomp::ChompRobotModel::ChompJoint::chomp_joint_index_

Joint index for CHOMP

Definition at line 51 of file chomp_robot_model.h.

bool chomp::ChompRobotModel::ChompJoint::has_joint_limits_

Are there joint limits?

Definition at line 55 of file chomp_robot_model.h.

double chomp::ChompRobotModel::ChompJoint::joint_limit_max_

Maximum joint angle value

Definition at line 57 of file chomp_robot_model.h.

double chomp::ChompRobotModel::ChompJoint::joint_limit_min_

Minimum joint angle value

Definition at line 56 of file chomp_robot_model.h.

std::string chomp::ChompRobotModel::ChompJoint::joint_name_

Name of the joint

Definition at line 52 of file chomp_robot_model.h.

double chomp::ChompRobotModel::ChompJoint::joint_update_limit_

Maximum amount the joint value can be updated in an iteration

Definition at line 58 of file chomp_robot_model.h.

const KDL::Joint* chomp::ChompRobotModel::ChompJoint::kdl_joint_

Pointer to the KDL joint in the tree

Definition at line 49 of file chomp_robot_model.h.

int chomp::ChompRobotModel::ChompJoint::kdl_joint_index_

Index for use in a KDL joint array

Definition at line 50 of file chomp_robot_model.h.

std::string chomp::ChompRobotModel::ChompJoint::link_name_

Name of the corresponding link (from planning.yaml)

Definition at line 53 of file chomp_robot_model.h.

bool chomp::ChompRobotModel::ChompJoint::wrap_around_

Does this joint wrap-around?

Definition at line 54 of file chomp_robot_model.h.

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

• chomp_robot_model.h