esp::metadata::URDF::Inertia struct

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::metadata::URDF::Inertia::m_ixx

inertia matrix upper triangular entries. Computed automatically if not specified.