mc_rbdyn::RobotConverterConfig Struct Reference

Configuration for mc_rbdyn::RobotConverter. More...

#include <mc_rbdyn/RobotConverterConfig.h>

Public Attributes
bool	mbcToOutMbc_ = true
	< Copy input robot's mbc to their corresponding output robot's mbc More...
bool	encodersToOutMbc_ = false
bool	encodersToOutMbcOnce_ = true
	Compute the output robot's joint mimics. More...
bool	enforceMimics_ = true
bool	copyPosWorld_ = true
bool	copyJointCommand_ = true
bool	copyJointVelocityCommand_ = true
bool	copyJointAccelerationCommand_ = true

Detailed Description

Configuration for mc_rbdyn::RobotConverter.

Member Data Documentation

copyJointAccelerationCommand_

bool mc_rbdyn::RobotConverterConfig::copyJointAccelerationCommand_ = true

Chosse which mbc properties to copy, only effective if mbcToOutMbc_ = true

copyJointCommand_

bool mc_rbdyn::RobotConverterConfig::copyJointCommand_ = true

Chosse which mbc properties to copy, only effective if mbcToOutMbc_ = true

copyJointVelocityCommand_

bool mc_rbdyn::RobotConverterConfig::copyJointVelocityCommand_ = true

Chosse which mbc properties to copy, only effective if mbcToOutMbc_ = true

copyPosWorld_

bool mc_rbdyn::RobotConverterConfig::copyPosWorld_ = true

encodersToOutMbc_

bool mc_rbdyn::RobotConverterConfig::encodersToOutMbc_ = false

Copy input encoder values to the output robot's mbc Copy input encoder values to the output robot's mbc on the first run

encodersToOutMbcOnce_

bool mc_rbdyn::RobotConverterConfig::encodersToOutMbcOnce_ = true

Compute the output robot's joint mimics.

enforceMimics_

bool mc_rbdyn::RobotConverterConfig::enforceMimics_ = true

mbcToOutMbc_

bool mc_rbdyn::RobotConverterConfig::mbcToOutMbc_ = true

< Copy input robot's mbc to their corresponding output robot's mbc

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

• include/mc_rbdyn/RobotConverterConfig.h