Class Link

• Defined in File link.h

Class Documentation

class Link

Public Functions

inline Link()

inline LinkSharedPtr getParent() const

inline void setParent(const LinkSharedPtr &parent)

inline void clear()

Public Members

std::string name

InertialSharedPtr inertial

inertial element

VisualSharedPtr visual

visual element

CollisionSharedPtr collision

collision element

std::vector<CollisionSharedPtr> collision_array

if more than one collision element is specified, all collision elements are placed in this array (the collision member points to the first element of the array)

std::vector<VisualSharedPtr> visual_array

if more than one visual element is specified, all visual elements are placed in this array (the visual member points to the first element of the array)

JointSharedPtr parent_joint

Parent Joint element explicitly stating “parent” because we want directional-ness for tree structure every link can have one parent

std::vector<JointSharedPtr> child_joints

std::vector<LinkSharedPtr> child_links