esp::metadata::URDF::Shape struct

Stores general properties of any shape.

Derived classes

struct CollisionShape
Parsed from a URDF link collision shape (<collision>)
struct VisualShape
Parsed from a URDF link visual shape (<visual>)

Public variables

std::string m_sourceFileLocation
If the shape originates from a file, cache the filepath.
Magnum::Matrix4 m_linkLocalFrame
Transform of this shape relative to its link.
Geometry m_geometry
Shape geometry.
std::string m_name
Any custom name for this shape.