mj_kdl::SceneState Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
const mjModel *	model = nullptr
std::deque< SceneJointSlot >	joints
std::deque< SceneFreeBodySlot >	free_bodies
std::deque< SceneWrenchSlot >	wrenches
std::deque< SceneActuatorSlot >	actuators

Detailed Description

Every non-robot primitive of the scene, read and applied by update(Env *). Deques: a pointer to a slot stays valid as more are bound.

Definition at line 596 of file mj_kdl_wrapper.hpp.

Member Data Documentation

actuators

std::deque<SceneActuatorSlot> mj_kdl::SceneState::actuators

Definition at line 602 of file mj_kdl_wrapper.hpp.

free_bodies

std::deque<SceneFreeBodySlot> mj_kdl::SceneState::free_bodies

Definition at line 600 of file mj_kdl_wrapper.hpp.

joints

std::deque<SceneJointSlot> mj_kdl::SceneState::joints

Definition at line 599 of file mj_kdl_wrapper.hpp.

model

const mjModel* mj_kdl::SceneState::model = nullptr

Definition at line 598 of file mj_kdl_wrapper.hpp.

wrenches

std::deque<SceneWrenchSlot> mj_kdl::SceneState::wrenches

Definition at line 601 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