Struct MjcfJoint

Struct Documentation

struct MjcfJoint

All joint information parsed from the mjcf model.

Public Types

typedef boost::property_tree::ptree ptree

Public Functions

void fill(const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)
Parameters:
  • el – ptree joint node

  • currentBody – body to which the joint belongs to

  • currentGraph – current Mjcf graph (needed to get compiler information)

void goThroughElement(const ptree &el, bool use_limits, const MjcfCompiler &currentCompiler)

Go through a joint node (default class or not) and parse info into the structure.

Parameters:
  • el – ptree joint node

  • use_limits – whether to parse the limits or not

Public Members

std::string jointName = "free"
SE3 jointPlacement = SE3::Identity()
Eigen::Vector3d axis = Eigen::Vector3d::UnitZ()
RangeJoint range = {1}
std::string jointType = "hinge"
double posRef = 0.