#include <mc_rbdyn/RobotModule.h>

Public Types
Connection joint
Where all the temporary assembly files are put, defaults to a randomly generated temporary folder Name of the resulting robot, defaults to `this.name`_`prefix`_`other.name` Path to the resulting robot's URDF file, defaults to `outputPath`/urdf/`name`.urdf Path to the resulting robot's RSDF files, defaults to `outputPath`/rsdf/`name`/ Path to the calibration directory, defaults to `outputPath`/calib/ Whether the default gripper safety parameters are taken from this (default) or other Whether the default LIPM stabilizer configuration is taken from this (default) or other These parameters let you control how the two RobotModule are connected
using	JointLimits = std::array< std::vector< double >, 6 >

using	JointAccelerationLimits = std::array< std::vector< double >, 2 >

using	JointJerkLimits = std::array< std::vector< double >, 2 >

using	JointTorqueDerivativeLimits = std::array< std::vector< double >, 2 >

Name mapping
Transformation from this_body to the connection joint, defaults to identity Transformation from other_body to the connection joint, defaults to identity These parameters let you define a finer mapping between names in other and the names in the resulting RobotModule. If a specific mapping is provided, then the provided name is used instead, otherwise the default is used, i.e. the provided prefix is applied to the name
using	mapping_t = std::unordered_map< std::string, std::string >

Detailed Description

Gives fine control over the connection operation

See also: RobotModule::connect

Member Typedef Documentation

◆ JointAccelerationLimits

using mc_rbdyn::RobotModule::ConnectionParameters::JointAccelerationLimits = std::array<std::vector<double>, 2>

Joint acceleration limits for the connection joint, can remain empty regardless of the joint type but throws if the provided limits are not compatible with the connection joint otherwise

◆ JointJerkLimits

using mc_rbdyn::RobotModule::ConnectionParameters::JointJerkLimits = std::array<std::vector<double>, 2>

Joint jerk limits for the connection joint, can remain empty regardless of the joint type but throws if the provided limits are not compatible with the connection joint otherwise

◆ JointLimits

using mc_rbdyn::RobotModule::ConnectionParameters::JointLimits = std::array<std::vector<double>, 6>

Type of joint used for connection, defaults to rbd::Joint::Type::Fixed Joint axis, defaults to Eigen::Vector3d::UnitZ() Is joint forward, defaults to true Joint name, must be unique in the assembly, defaults to this.name_connect_prefix_other.name Default (half-sitting) configuration for the connection joint Joint limits (position, velocity, torque) for the connection joint, RobotModule::connect will throw if the limits are not compatible with the connection joint

◆ JointTorqueDerivativeLimits

using mc_rbdyn::RobotModule::ConnectionParameters::JointTorqueDerivativeLimits = std::array<std::vector<double>, 2>

Joint torque derivative limits for the connection joint, can remain empty regardless of the joint type but throws if the provided limits are not compatible with the connection joint otherwise

◆ mapping_t

using mc_rbdyn::RobotModule::ConnectionParameters::mapping_t = std::unordered_map<std::string, std::string>

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

include/mc_rbdyn/RobotModule.h