urdf::Joint Class Reference

Public Types
enum	{   UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC,   FLOATING, PLANAR, FIXED }

Public Member Functions
void	clear ()

Public Attributes
std::string	name
enum urdf::Joint:: { ... }	type
Vector3	axis
	type_ meaning of axis_ UNKNOWN unknown type REVOLUTE rotation axis PRISMATIC translation axis FLOATING N/A PLANAR plane normal axis FIXED N/A
std::string	child_link_name
std::string	parent_link_name
Pose	parent_to_joint_origin_transform
	transform from Parent Link frame to Joint frame
std::shared_ptr< JointDynamics >	dynamics
	Joint Dynamics.
std::shared_ptr< JointLimits >	limits
	Joint Limits.
std::shared_ptr< JointSafety >	safety
	Unsupported Hidden Feature.
std::shared_ptr< JointCalibration >	calibration
	Unsupported Hidden Feature.
std::shared_ptr< JointMimic >	mimic
	Option to Mimic another Joint.

Member Data Documentation

std::string urdf::Joint::child_link_name

child Link element child link frame is the same as the Joint frame

std::string urdf::Joint::parent_link_name

parent Link element origin specifies the transform from Parent Link to Joint Frame

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The documentation for this class was generated from the following file:

• urdf_joint.h