mj_kdl::AttachTarget Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
AttachKind	kind = AttachKind::World
std::string	name

Detailed Description

Where to attach a robot, object, or attachment in the accumulated scene spec. Tagged so exactly one alternative is encoded; defaulting to World keeps callers that omit attach_to anchored to the worldbody. For Site, the site's own pos/quat becomes the placement frame and the accompanying pos/quat are an additional offset on top of it (matches MJCF).

Definition at line 100 of file mj_kdl_wrapper.hpp.

Member Data Documentation

kind

AttachKind mj_kdl::AttachTarget::kind = AttachKind::World

Definition at line 102 of file mj_kdl_wrapper.hpp.

name

std::string mj_kdl::AttachTarget::name

Definition at line 103 of file mj_kdl_wrapper.hpp.

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp