Mujoco KDL Wrapper  0.2.2
MuJoCo + KDL bridge for robot kinematics and dynamics
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mj_kdl::Viewer Struct Reference
Visualization

#include <mj_kdl_wrapper.hpp>

Public Attributes

GLFWwindow * window = nullptr
mjvScene scn {}
mjvCamera cam {}
mjvOption opt {}
mjvPerturb pert {}
mjrContext con {}
double realtime_factor = 1.0
std::chrono::steady_clock::time_point _tick_t {}
void * _sim_ui = nullptr

Detailed Description

GLFW window and MuJoCo visualization state for the manual render loop. Created by init_window(); freed by cleanup(Viewer *).

Definition at line 348 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ _sim_ui

void* mj_kdl::Viewer::_sim_ui = nullptr

Definition at line 364 of file mj_kdl_wrapper.hpp.

◆ _tick_t

std::chrono::steady_clock::time_point mj_kdl::Viewer::_tick_t {}

Definition at line 362 of file mj_kdl_wrapper.hpp.

◆ cam

mjvCamera mj_kdl::Viewer::cam {}

Definition at line 352 of file mj_kdl_wrapper.hpp.

◆ con

mjrContext mj_kdl::Viewer::con {}

Definition at line 355 of file mj_kdl_wrapper.hpp.

◆ opt

mjvOption mj_kdl::Viewer::opt {}

Definition at line 353 of file mj_kdl_wrapper.hpp.

◆ pert

mjvPerturb mj_kdl::Viewer::pert {}

Definition at line 354 of file mj_kdl_wrapper.hpp.

◆ realtime_factor

double mj_kdl::Viewer::realtime_factor = 1.0

Definition at line 360 of file mj_kdl_wrapper.hpp.

◆ scn

mjvScene mj_kdl::Viewer::scn {}

Definition at line 351 of file mj_kdl_wrapper.hpp.

◆ window

GLFWwindow* mj_kdl::Viewer::window = nullptr

Definition at line 350 of file mj_kdl_wrapper.hpp.

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