esp::physics::URDFToBulletCached struct

#include <esp/physics/bullet/BulletURDFImporter.h>

Structure to hold construction time multi-body data.

Constructors, destructors, conversion operators

URDFToBulletCached() 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