Shape struct
#include <esp/metadata/URDFParser.h>
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.