rbd::MultiBodyGraph::Arc Struct Reference

#include <RBDyn/RBDyn/MultiBodyGraph.h>

Collaboration diagram for rbd::MultiBodyGraph::Arc:

Public Member Functions
	Arc ()
	Arc (sva::PTransformd X0, const Joint &j, bool forward, std::shared_ptr< Node > n)

Public Attributes
sva::PTransformd	X
	Position of the joint in body coordinate.
Joint	joint
	Joint with right direction.
std::shared_ptr< Node >	next
	successor node.

Detailed Description

.Arc of the multibody graph. Represent a joint of a body.

Constructor & Destructor Documentation

Arc() [1/2]

rbd::MultiBodyGraph::Arc::Arc ( )

inline

Arc() [2/2]

rbd::MultiBodyGraph::Arc::Arc ( sva::PTransformd  X0, const Joint &  j, bool  forward, std::shared_ptr< Node >  n  )

inline

Member Data Documentation

joint

Joint rbd::MultiBodyGraph::Arc::joint

Joint with right direction.

next

std::shared_ptr<Node> rbd::MultiBodyGraph::Arc::next

successor node.

X

sva::PTransformd rbd::MultiBodyGraph::Arc::X

Position of the joint in body coordinate.

---

The documentation for this struct was generated from the following file:

• src/RBDyn/RBDyn/MultiBodyGraph.h