Inertia struct
#include <esp/metadata/URDFParser.h>
Parsed from a URDF link inertia properties (<inertial>). Stores dynamic properties of ths link.
Constructors, destructors, conversion operators
- Inertia() defaulted
Public variables
-
Magnum::
Matrix4 m_linkLocalFrame - local transform of the link in parent joint space
- bool m_hasLinkLocalFrame
- double m_mass
- mass of the link (0 mass indicates unmovable, static object)
- double m_ixx
- double m_ixy
- double m_ixz
- double m_iyy
- double m_iyz
- double m_izz
Variable documentation
double esp::
inertia matrix upper triangular entries. Computed automatically if not specified.