Base.h
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1 /*
2  * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
3  */
4 
5 #pragma once
6 
7 #include <mc_rbdyn/api.h>
8 
9 #include <RBDyn/Joint.h>
10 
11 #include <string>
12 
13 namespace mc_rbdyn
14 {
15 
17 struct MC_RBDYN_DLLAPI Base
18 {
20  std::string baseName;
22  sva::PTransformd X_0_s;
24  sva::PTransformd X_b0_s;
26  rbd::Joint::Type baseType;
27 };
28 
29 } // namespace mc_rbdyn
api.h
MC_RBDYN_DLLAPI
#define MC_RBDYN_DLLAPI
Definition: api.h:50
mc_rbdyn
Definition: generic_gripper.h:15
mc_rtc::gui::plot::Type
Type
Definition: types.h:31
mc_rbdyn::Base
Definition: Base.h:18
mc_rbdyn::Base::baseName
std::string baseName
Definition: Base.h:20
mc_rbdyn::Base::X_b0_s
sva::PTransformd X_b0_s
Definition: Base.h:24
mc_rbdyn::Base::X_0_s
sva::PTransformd X_0_s
Definition: Base.h:22
mc_rbdyn::Base::baseType
rbd::Joint::Type baseType
Definition: Base.h:26