esp::metadata::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>)

Enums

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.

Functions

auto espLoggingSubsystem() -> logging::Subsystem

Enum documentation

Function documentation