esp::io::URDF::Link struct
#include <esp/io/URDFParser.h>

Parsed from a URDF link (<link>). Represents a single rigid segment of the articulated object.

Constructors, destructors, conversion operators

std::string m_name: name of the link
Inertia m_inertia: dynamic properties of the link
std::vector<VisualShape> m_visualArray: visual shapes attached to this link
std::vector<CollisionShape> m_collisionArray: collision shapes attached to this link
std::weak_ptr<Link> m_parentLink: this link's parent link
std::weak_ptr<Joint> m_parentJoint: the joint connecting this link to its parent
std::vector<std::weak_ptr<Joint>> m_childJoints: list of all link children of this link
std::vector<std::weak_ptr<Link>> m_childLinks
int m_linkIndex: the index of this link in the overall articulated object
LinkContactInfo m_contactInfo: any contact info for this link

joints attaching this link to each of its children (with index correspondence to m_childJoints)