mc_rbdyn::RobotModule::FrameDescription Struct Reference

#include <mc_rbdyn/RobotModule.h>

Public Member Functions
	FrameDescription (const std::string &n, const std::string &p, const sva::PTransformd &pt, bool baked=false)

Public Attributes
std::string	name
std::string	parent
sva::PTransformd	X_p_f
bool	baked = false

Detailed Description

A lightweight frame description

This will be used when creating extra frames in the robot

These frames shouldn't:

• share a name with bodies in the robot
• share a name with surfaces in the robot

Constructor & Destructor Documentation

FrameDescription()

mc_rbdyn::RobotModule::FrameDescription::FrameDescription ( const std::string &  n, const std::string &  p, const sva::PTransformd &  pt, bool  baked = false  )

inline

Constructor

Member Data Documentation

baked

bool mc_rbdyn::RobotModule::FrameDescription::baked = false

If true the frame is baked

name

std::string mc_rbdyn::RobotModule::FrameDescription::name

Name of the frame

parent

std::string mc_rbdyn::RobotModule::FrameDescription::parent

Frame's parent

X_p_f

sva::PTransformd mc_rbdyn::RobotModule::FrameDescription::X_p_f

Transformation from the parent frame to this one

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

• include/mc_rbdyn/RobotModule.h