mj_kdl::CameraSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	name
std::string	body
double	pos [3] = { NAN, NAN, NAN }
double	quat [4] = { 0.0, 0.0, 0.0, 1.0 }
double	fovy = NAN

Detailed Description

A named fixed camera to add to the world body of the scene. After build_scene() the camera is accessible by name (mj_name2id(model, mjOBJ_CAMERA, name)) and can be activated on a Viewer with use_camera(), or on a VideoRecorder through vr.cam.

pos and fovy start unset (NaN): there is no neutral camera position or field of view, so the caller must specify both, and build_scene() fails otherwise. quat defaults to identity.

Definition at line 293 of file mj_kdl_wrapper.hpp.

Member Data Documentation

body

std::string mj_kdl::CameraSpec::body

Definition at line 296 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

fovy

double mj_kdl::CameraSpec::fovy = NAN

Definition at line 299 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

name

std::string mj_kdl::CameraSpec::name

Definition at line 295 of file mj_kdl_wrapper.hpp.

Referenced by TEST(), and TEST_F().

pos

double mj_kdl::CameraSpec::pos[3] = { NAN, NAN, NAN }

Definition at line 297 of file mj_kdl_wrapper.hpp.

Referenced by TEST(), and TEST_F().

quat

double mj_kdl::CameraSpec::quat[4] = { 0.0, 0.0, 0.0, 1.0 }

Definition at line 298 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp