Klamp't  0.8.1
Public Types | Public Member Functions | Public Attributes | List of all members
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< JointDynamicsdynamics
 Joint Dynamics.
 
std::shared_ptr< JointLimitslimits
 Joint Limits.
 
std::shared_ptr< JointSafetysafety
 Unsupported Hidden Feature.
 
std::shared_ptr< JointCalibrationcalibration
 Unsupported Hidden Feature.
 
std::shared_ptr< JointMimicmimic
 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


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