esp::io::URDF namespace

Classes

struct CollisionShape: Parsed from a URDF link collision shape (<collision>)
struct Geometry
struct Inertia
struct Joint: Parsed from a URDF joint (<joint>), connects two links.
struct Link
struct LinkContactInfo
struct Material: Storage for metadata defining override materials for visual shapes.
struct MaterialColor
class Model
class Parser: Functional class for parsing URDF files into a URDF::Model representation.
struct Shape: Stores general properties of any shape.
struct VisualShape: Parsed from a URDF link visual shape (<visual>)

enum JointTypes { RevoluteJoint = 1, PrismaticJoint, ContinuousJoint, FloatingJoint, PlanarJoint, FixedJoint, SphericalJoint }: Defines Various types of supported joints.
enum GeomTypes { GEOM_SPHERE = 2, GEOM_BOX, GEOM_CYLINDER, GEOM_MESH, GEOM_PLANE, GEOM_CAPSULE, GEOM_UNKNOWN }: Defines various types of supported geometry.
enum CollisionFlags { HAS_COLLISION_GROUP = 1, HAS_COLLISION_MASK = 2 }: Defines some collision shape flags.
enum LinkContactFlags { CONTACT_HAS_LATERAL_FRICTION = 1, CONTACT_HAS_INERTIA_SCALING = 2, CONTACT_HAS_CONTACT_CFM = 4, CONTACT_HAS_CONTACT_ERP = 8, CONTACT_HAS_STIFFNESS_DAMPING = 16, CONTACT_HAS_ROLLING_FRICTION = 32, CONTACT_HAS_SPINNING_FRICTION = 64, CONTACT_HAS_RESTITUTION = 128, CONTACT_HAS_FRICTION_ANCHOR = 256 }: Contact info cached for links, but not currently used.