#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	mjcf_path
AttachTarget	attach_to
std::string	prefix
double	pos [3] = { 0, 0, 0 }
double	quat [4] = { 0, 0, 0, 1 }
std::vector< CtrlModeSpec >	modes
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. modes: control modes for its own joints, in groups of their own so it switches apart from its robot; empty by default, unlike RobotSpec::modes.

Definition at line 138 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ attach_to

AttachTarget mj_kdl::AttachmentSpec::attach_to

Definition at line 141 of file mj_kdl_wrapper.hpp.

Referenced by AttachedArmModesTest::arm(), mj_kdl_examples::gripper_attachment(), main(), MjcfFtSensorTest::SetUp(), and TEST_F().

◆ contact_exclusions

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

Definition at line 148 of file mj_kdl_wrapper.hpp.

◆ mjcf_path

std::string mj_kdl::AttachmentSpec::mjcf_path

Definition at line 140 of file mj_kdl_wrapper.hpp.

Referenced by AttachedArmModesTest::arm(), mj_kdl_examples::gripper_attachment(), main(), and MjcfFtSensorTest::SetUp().

◆ modes

std::vector<CtrlModeSpec> mj_kdl::AttachmentSpec::modes

Definition at line 145 of file mj_kdl_wrapper.hpp.

Referenced by AttachedArmModesTest::arm().

◆ pos

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

Definition at line 143 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

◆ prefix

std::string mj_kdl::AttachmentSpec::prefix

Definition at line 142 of file mj_kdl_wrapper.hpp.

Referenced by AttachedArmModesTest::arm(), mj_kdl_examples::gripper_attachment(), and main().

◆ quat

double mj_kdl::AttachmentSpec::quat[4] = { 0, 0, 0, 1 }

Definition at line 144 of file mj_kdl_wrapper.hpp.

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp

Public Attributes