esp::metadata::URDF::Joint struct

#include <esp/metadata/URDFParser.h>

Constructors, destructors, conversion operators

Joint() defaulted

Public variables

std::string m_name

Joint name.

JointTypes m_type

Type of the joint, used to pivot on relevant fields for instancing.

Magnum::Matrix4 m_parentLinkToJointTransform

Relative transform of the joint from its parent link.

std::string m_parentLinkName

Name of the parent link and key in the link cache.

std::string m_childLinkName

Name of the child link and key in the link cache.

Magnum::Vector3 m_localJointAxis

Some joints (e.g. revolute) have a local axis (e.g. X, Y, Z)

double m_lowerLimit

Joint limits if provided.

double m_upperLimit

double m_effortLimit

Joint force/torque limits if provided.

double m_velocityLimit

double m_jointDamping

double m_jointFriction

Variable documentation