Struct EdgeBuilder

• Defined in File model-graph.hpp

Struct Documentation

struct EdgeBuilder

Builder interface to add an edge to the graph. Allows for an easy customization of the edge.

Public Functions

inline explicit EdgeBuilder(ModelGraph &graph)

Constructor.

inline EdgeBuilder &withJointType(const JointVariant &jtype)

Specify the type of joint for the edge. Default : Fixed.

inline EdgeBuilder &withName(const std::string &name)

Specify the name of the edge.

inline EdgeBuilder &withTargetVertex(const std::string &target_name)

Specify the name of the target vertex.

inline EdgeBuilder &withSourceVertex(const std::string &source_name)

Specify the name of the source vertex.

inline EdgeBuilder &withTargetPose(const SE3 &target_pose)

Specify the pose of target vertex wrt edge. Default : Identity.

inline EdgeBuilder &withSourcePose(const SE3 &source_pose)

Specify the pose of the joint wrt the source vertex. Default : Identity.

inline EdgeBuilder &withQref(const Eigen::VectorXd &qref)

Specify a bias for the joint configuration.

inline EdgeBuilder &withMinConfig(const Eigen::VectorXd &minConfig_)

Specify limit minConfig.

inline EdgeBuilder &withMaxConfig(const Eigen::VectorXd &maxConfig_)

Specify limit maxConfig.

inline EdgeBuilder &withMaxVel(const Eigen::VectorXd &maxVel_)

Specify limit maxVel.

inline EdgeBuilder &withMaxEffort(const Eigen::VectorXd &maxEffort_)

Specify limit maxEffort.

inline EdgeBuilder &withFriction(const Eigen::VectorXd &friction_)

Specify friction.

inline EdgeBuilder &withDamping(const Eigen::VectorXd &damping_)

Specify damping.

inline EdgeBuilder &withArmature(const Eigen::VectorXd &armature_)

Specify armature.

inline EdgeBuilder &withFrictionLoss(const double frictionLoss_)

Specify friction loss.

void build()

Add the edge to the ModelGraph.

Public Members

ModelGraph &g

ModelGraph to which the edge will be added.

EdgeParameters param

Parameters of the edge.

boost::optional<Eigen::VectorXd> minConfig

boost::optional<Eigen::VectorXd> maxConfig

boost::optional<Eigen::VectorXd> maxVel

boost::optional<Eigen::VectorXd> maxEffort

boost::optional<Eigen::VectorXd> armature

boost::optional<Eigen::VectorXd> friction

boost::optional<Eigen::VectorXd> damping

double frictionLoss = 0