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esp::physics::URDF2BulletCached struct
#include <esp/physics/bullet/BulletURDFImporter.h>

Structure to hold construction time multi-body data.

Contents

  • Reference
    • Constructors, destructors, conversion operators
    • Public functions
    • Public variables

Constructors, destructors, conversion operators

URDF2BulletCached() defaulted

Public functions

auto getParentUrdfIndex(int linkIndex) const -> int
auto getMbIndexFromUrdfIndex(int urdfIndex) const -> int

Public variables

std::vector<int> m_urdfLinkParentIndices
std::vector<int> m_urdfLinkIndices2BulletLinkIndices
std::vector<btTransform> m_urdfLinkLocalInertialFrames
int m_currentMultiBodyLinkIndex
class btMultiBody* m_bulletMultiBody
std::unordered_map<int, JointLimitConstraintInfo> m_jointLimitConstraints
int m_totalNumJoints1
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