Struct JointGroupInfo

• Defined in File types.hpp

Struct Documentation

struct JointGroupInfo

Contains information about a named group of joints.

Public Members

std::vector<std::string> joint_names

The joint names that make up the group.

std::vector<size_t> joint_indices

The joint indices in the group.

Eigen::VectorXi q_indices

The position vector indices in the group.

Eigen::VectorXi v_indices

The velocity vector indices in the group.

bool has_continuous_dofs = {false}

Whether the group has any continuous degrees of freedom.

size_t nq_collapsed

The number of collapsed degrees of freedom.

To get the full (expanded) value, this is q_indices.size().

Friends

friend std::ostream &operator<<(std::ostream &os, const JointGroupInfo &info)

Prints basic information about the joint group.