Struct JointInteraction

Defined in File interaction.hpp

Struct Documentation

struct JointInteraction

Representation of a joint interaction. Displays one marker for manipulating the joint.

Public Members

std::string connecting_link: The link in the robot model this joint is a parent of.

std::string parent_frame: The name of the frame that is a parent of this joint.

std::string joint_name: The name of the joint.

unsigned int dof: The type of joint disguised as the number of DOF it has. 3=PLANAR in X/Y; 6=FLOATING.

double size: The size of the connecting link (diameter of enclosing sphere)