clearpath_config.links.types.link module
- class clearpath_config.links.types.link.BaseLink(name: str, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0])
Bases:
Accessory
Base Link object contains all common methods for links.
Parameters
- namestr
Required. Results in ‘{name}_link’ in URDF.
- parentstr
Parent link in URDF.
- xyz: List[float]
Translational offset from parent link.
- rpy: List[float]
Rotational offset from parent link.
- offset_xyz: List[float]
Translational offset of visual w.r.t. link.
- offset_rpy: List[float]
Rotational offset of visual w.r.t. link.
Attributes
- LINK_TYPEstr
Type of string used to generate URDF link.
- LINK_TYPE = 'base'
- OFFSET_RPY = [0.0, 0.0, 0.0]
- OFFSET_XYZ = [0.0, 0.0, 0.0]
- from_dict(d: dict) None
- classmethod get_link_type() str
- get_offset_xyz() List[float]
- set_offset_rpy(rpy: List[float]) None
- set_offset_xyz(xyz: List[float]) None
- to_dict() dict