mj_kdl::AttachmentSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
const char *	mjcf_path = nullptr
AttachTarget	attach_to
const char *	prefix = ""
double	pos [3] = { 0, 0, 0 }
double	euler [3] = { 0, 0, 0 }
std::vector< std::pair< std::string, std::string > >	contact_exclusions

Detailed Description

One link in an ordered attachment chain for a robot. An attachment is any MJCF body (end effector, mount, FT sensor, tool, additional arm on a mobile base, etc.) attached under a named element in the accumulated robot spec. Attachments are applied in declaration order; attach_to may reference any body, site, or frame present after all prior attachments have been applied.

Definition at line 108 of file mj_kdl_wrapper.hpp.

Member Data Documentation

attach_to

AttachTarget mj_kdl::AttachmentSpec::attach_to

Definition at line 111 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), and main().

contact_exclusions

std::vector<std::pair<std::string, std::string> > mj_kdl::AttachmentSpec::contact_exclusions

Definition at line 117 of file mj_kdl_wrapper.hpp.

euler

double mj_kdl::AttachmentSpec::euler[3] = { 0, 0, 0 }

Definition at line 114 of file mj_kdl_wrapper.hpp.

mjcf_path

const char* mj_kdl::AttachmentSpec::mjcf_path = nullptr

Definition at line 110 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), and main().

pos

double mj_kdl::AttachmentSpec::pos[3] = { 0, 0, 0 }

Definition at line 113 of file mj_kdl_wrapper.hpp.

Referenced by main().

prefix

const char* mj_kdl::AttachmentSpec::prefix = ""

Definition at line 112 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), and main().

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp