rbd::parsers::ParserParameters Struct Reference

#include <parsers/RBDyn/parsers/common.h>

Public Member Functions
ParserParameters &	fixed (bool fixed) noexcept
ParserParameters &	filtered_links (const std::vector< std::string > &links) noexcept
ParserParameters &	remove_filtered_links (bool value) noexcept
ParserParameters &	transform_inertia (bool value) noexcept
ParserParameters &	base_link (const std::string &link) noexcept
ParserParameters &	remove_virtual_links (bool value) noexcept
ParserParameters &	spherical_suffix (const std::string &suffix) noexcept

Public Attributes
bool	fixed_ = true
std::vector< std::string >	filtered_links_ = {}
bool	remove_filtered_links_ = true
bool	transform_inertia_ = true
std::string	base_link_ = ""
bool	remove_virtual_links_ = false
std::string	spherical_suffix_ = "_spherical"

Detailed Description

Options passed to the parsing function

Member Function Documentation

base_link()

ParserParameters& rbd::parsers::ParserParameters::base_link ( const std::string &  link )

inlinenoexcept

Change the base_link_ parameter to

Parameters

link	and returns self

filtered_links()

ParserParameters& rbd::parsers::ParserParameters::filtered_links ( const std::vector< std::string > &  links )

inlinenoexcept

Change the filtered_links_ parameter to

Parameters

links

and returns self

fixed()

ParserParameters& rbd::parsers::ParserParameters::fixed ( bool  fixed )

inlinenoexcept

Change the fixed_ parameter to

Parameters

fixed

and returns self

remove_filtered_links()

ParserParameters& rbd::parsers::ParserParameters::remove_filtered_links ( bool  value )

inlinenoexcept

Change the remove_filtered_links_ parameter to

Parameters

value

and returns self

remove_virtual_links()

ParserParameters& rbd::parsers::ParserParameters::remove_virtual_links ( bool  value )

inlinenoexcept

Change the remove_virtual_links_ parameter to

Parameters

value

and returns self

spherical_suffix()

ParserParameters& rbd::parsers::ParserParameters::spherical_suffix ( const std::string &  suffix )

inlinenoexcept

Change the spherical_suffix_ parameter to

Parameters

suffix

and returns self

transform_inertia()

ParserParameters& rbd::parsers::ParserParameters::transform_inertia ( bool  value )

inlinenoexcept

Change the transform_inertia_ parameter to

Parameters

value

and returns self

Member Data Documentation

base_link_

std::string rbd::parsers::ParserParameters::base_link_ = ""

If non-empty, use this body as the base for the MultiBody, otherwise the first body in the URDF/YAML is used

filtered_links_

std::vector<std::string> rbd::parsers::ParserParameters::filtered_links_ = {}

The bodies in this list will be filtered, the exact behavior depends on remove_filtered_links

If true (default): the links in this list do not appear in the resulting MultiBody

If false: the links in this list appear in the resulting MultiBody but the joints they are attached to are fixed

fixed_

bool rbd::parsers::ParserParameters::fixed_ = true

Create a root free joint if false, fixed otherwise

remove_filtered_links_

bool rbd::parsers::ParserParameters::remove_filtered_links_ = true

Control the link filter behavior

If true (default): the links in filtered_links_ do not appear in the resulting MultiBody

If false: the links in filtered_links_ appear in the resulting MultiBody but the joints they are attached to are fixed

remove_virtual_links_

bool rbd::parsers::ParserParameters::remove_virtual_links_ = false

If true, bodies without inertial parameters are removed from the resulting MultiBody

Note

This is independent of the remove_filtered_links parameter

spherical_suffix_

std::string rbd::parsers::ParserParameters::spherical_suffix_ = "_spherical"

Treat joint with this suffix as spherical joints

transform_inertia_

bool rbd::parsers::ParserParameters::transform_inertia_ = true

If true, the inertia of links are moved to their CoM frame

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

• src/parsers/RBDyn/parsers/common.h