Struct ModelGraphEdge

• Defined in File model-graph.hpp

Struct Documentation

struct ModelGraphEdge

Represents an edge (joint) in the model graph.

Public Members

std::string name

Unique name of the joint.

JointVariant joint

What is the type of the joint.

JointLimits jlimit

All the limits of the joint.

SE3 source_to_joint

Transformation from the previous vertex to edge.

Correspond to the transformation from body supporting joint to said joint

SE3 joint_to_target

Transformation from edge to next vertex.

Correspond to the transformation from the current joint to its supported body.

bool forward = true

boolean to know if we are in a forward or backward edge