37 #ifndef URDF_INTERFACE_JOINT_H 38 #define URDF_INTERFACE_JOINT_H 44 #include "urdf_pose.h" 125 double soft_lower_limit;
131 soft_upper_limit = 0;
132 soft_lower_limit = 0;
143 double reference_position;
144 std::shared_ptr<double> rising, falling;
148 reference_position = 0;
158 std::string joint_name;
173 Joint() { this->clear(); };
178 UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED
219 this->child_link_name.clear();
220 this->parent_link_name.clear();
221 this->parent_to_joint_origin_transform.clear();
222 this->dynamics.reset();
223 this->limits.reset();
224 this->safety.reset();
225 this->calibration.reset();
226 this->type = UNKNOWN;
Parameters for Joint Safety Controllers.
Definition: urdf_joint.h:87
Definition: urdf_joint.h:139
std::shared_ptr< JointCalibration > calibration
Unsupported Hidden Feature.
Definition: urdf_joint.h:211
std::string parent_link_name
Definition: urdf_joint.h:197
Definition: urdf_joint.h:68
Definition: urdf_joint.h:54
Vector3 axis
type_ meaning of axis_ UNKNOWN unknown type REVOLUTE rotation axis PRISMATIC translation axis FLOATIN...
Definition: urdf_joint.h:189
Definition: urdf_color.h:46
std::shared_ptr< JointSafety > safety
Unsupported Hidden Feature.
Definition: urdf_joint.h:208
std::shared_ptr< JointDynamics > dynamics
Joint Dynamics.
Definition: urdf_joint.h:202
std::string child_link_name
Definition: urdf_joint.h:193
Definition: urdf_pose.h:239
Definition: urdf_pose.h:54
std::shared_ptr< JointMimic > mimic
Option to Mimic another Joint.
Definition: urdf_joint.h:214
Pose parent_to_joint_origin_transform
transform from Parent Link frame to Joint frame
Definition: urdf_joint.h:199
std::shared_ptr< JointLimits > limits
Joint Limits.
Definition: urdf_joint.h:205
double soft_upper_limit
Definition: urdf_joint.h:91
Definition: urdf_joint.h:152
Definition: urdf_joint.h:169