mj_kdl::CameraSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

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

Detailed Description

A named fixed camera to add to the world body of the scene. After build_scene() the camera is accessible by name via get_camera_names() and can be activated on a Viewer or VideoRecorder with use_camera().

pos and fovy have no defaults: there is no neutral camera position or field of view, so the caller must specify both. quat defaults to identity.

Definition at line 239 of file mj_kdl_wrapper.hpp.

Member Data Documentation

body

std::string mj_kdl::CameraSpec::body

Definition at line 242 of file mj_kdl_wrapper.hpp.

fovy

double mj_kdl::CameraSpec::fovy

Definition at line 245 of file mj_kdl_wrapper.hpp.

name

std::string mj_kdl::CameraSpec::name

Definition at line 241 of file mj_kdl_wrapper.hpp.

pos

double mj_kdl::CameraSpec::pos[3]

Definition at line 243 of file mj_kdl_wrapper.hpp.

quat

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

Definition at line 244 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