A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups.
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#include <model.h>
List of all members.
Public Attributes |
std::vector< std::pair
< std::string, std::string > > | chains_ |
| std::vector< std::string > | joints_ |
| std::vector< std::string > | links_ |
| std::string | name_ |
| | The name of the group.
|
| std::vector< std::string > | subgroups_ |
Detailed Description
A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups.
Definition at line 77 of file model.h.
Member Data Documentation
Specify a chain of links (and the implicit joints) to be added to the group. Each chain is specified as a pair of base link and tip link. It is checked that the chain is indeed a chain in the specified URDF.
Definition at line 99 of file model.h.
Directly specified joints to be included in the group. Descendent links should be implicitly considered to be part of the group, although this parsed does not add them to links_. The joints are checked to be in the corresponding URDF.
Definition at line 87 of file model.h.
Directly specified links to be included in the group. Parent joints should be implicitly considered to be part of the group. The links are checked to be in the corresponding URDF.
Definition at line 93 of file model.h.
The name of the group.
Definition at line 80 of file model.h.
It is sometimes convenient to refer to the content of another group. A group can include the content of the referenced groups
Definition at line 104 of file model.h.
The documentation for this struct was generated from the following file: