Struct EdgeParameters

• Defined in File model-graph.hpp

Struct Documentation

struct EdgeParameters

Structure that holds all the parameters useful to create an edge.

Public Functions

EdgeParameters() = default

Default Constructor.

EdgeParameters(const std::string &jname, const std::string &source_name, const SE3 &source_to_joint, const std::string &target_name, const SE3 &joint_to_target, const JointVariant &joint, const boost::optional<Eigen::VectorXd> q_ref = boost::none)

Constructor with all parameters.

Public Members

std::string name

Edge name.

std::string source_vertex

Source name.

SE3 source_to_joint = SE3::Identity()

Placement of Edge wrt source vertex.

std::string target_vertex

Target name.

SE3 joint_to_target = SE3::Identity()

Placement of target wrt edge.

JointVariant joint = JointFixed()

Type of joint for edge.

boost::optional<Eigen::VectorXd> q_ref = boost::none

Bias for the joint.

JointLimits jlimit