urdf::Joint Class Reference

#include <joint.h>

Public Types
enum	{ UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED }
Public Member Functions
void	clear ()
bool	initXml (TiXmlElement *xml)
	Joint ()
Public Attributes
Vector3	axis
	type_ meaning of axis_ ------------------------------------------------------ UNKNOWN unknown type REVOLUTE rotation axis PRISMATIC translation axis FLOATING N/A PLANAR plane normal axis FIXED N/A
boost::shared_ptr < JointCalibration >	calibration
	Unsupported Hidden Feature.
std::string	child_link_name
boost::shared_ptr< JointDynamics >	dynamics
	Joint Dynamics.
boost::shared_ptr< JointLimits >	limits
	Joint Limits.
boost::shared_ptr< JointMimic >	mimic
	Option to Mimic another Joint.
std::string	name
std::string	parent_link_name
Pose	parent_to_joint_origin_transform
	transform from Parent Link frame to Joint frame
boost::shared_ptr< JointSafety >	safety
	Unsupported Hidden Feature.
enum urdf::Joint:: { ... }	type

Detailed Description

Definition at line 170 of file joint.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

UNKNOWN
REVOLUTE
CONTINUOUS
PRISMATIC
FLOATING
PLANAR
FIXED

Definition at line 177 of file joint.h.

Constructor & Destructor Documentation

urdf::Joint::Joint ( ) [inline]

Definition at line 174 of file joint.h.

Member Function Documentation

void urdf::Joint::clear ( ) [inline]

Definition at line 218 of file joint.h.

bool urdf::Joint::initXml ( TiXmlElement * xml )

Definition at line 369 of file joint.cpp.

Member Data Documentation

Vector3 urdf::Joint::axis

type_ meaning of axis_ ------------------------------------------------------ UNKNOWN unknown type REVOLUTE rotation axis PRISMATIC translation axis FLOATING N/A PLANAR plane normal axis FIXED N/A

Definition at line 190 of file joint.h.

boost::shared_ptr<JointCalibration> urdf::Joint::calibration

Unsupported Hidden Feature.

Definition at line 212 of file joint.h.

std::string urdf::Joint::child_link_name

child Link element child link frame is the same as the Joint frame

Definition at line 194 of file joint.h.

boost::shared_ptr<JointDynamics> urdf::Joint::dynamics

Joint Dynamics.

Definition at line 203 of file joint.h.

boost::shared_ptr<JointLimits> urdf::Joint::limits

Joint Limits.