Struct JointComposite

Defined in File joints.hpp

Struct Documentation

struct JointComposite

Public Functions

JointComposite() = default

inline JointComposite(const JointVariant &j, const SE3 &jPose)

inline JointComposite(const std::vector<JointVariant> &js, const std::vector<SE3> &jPoses)

inline void addJoint(const JointVariant &jm, const SE3 &pose = SE3::Identity())

inline bool operator==(const JointComposite &other) const

Public Members

std::vector<JointVariant> joints

std::vector<SE3> jointsPlacements

int nq = 0

int nv = 0