#include <urdfjoint.h>

Collaboration diagram for gcop_urdf::Joint:

Public Types
enum	{ UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED }
Public Member Functions
	Joint ()
bool	initXml (TiXmlElement *xml)
void	clear ()
Public Attributes
std::string	name
enum gcop_urdf::Joint:: { ... }	type
Vector3	axis
	type_ meaning of axis_
std::string	child_link_name
std::string	parent_link_name
Pose	parent_to_joint_origin_transform
	transform from Parent Link frame to Joint frame
boost::shared_ptr< JointDynamics >	dynamics
	Joint Dynamics.
boost::shared_ptr< JointLimits >	limits
	Joint Limits.
boost::shared_ptr< JointSafety >	safety
	Unsupported Hidden Feature.
boost::shared_ptr < JointCalibration >	calibration
	Unsupported Hidden Feature.
boost::shared_ptr< JointMimic >	mimic
	Option to Mimic another Joint.

Member Enumeration Documentation

anonymous enum

Enumerator:

UNKNOWN
REVOLUTE
CONTINUOUS
PRISMATIC
FLOATING
PLANAR
FIXED

Constructor & Destructor Documentation

gcop_urdf::Joint::Joint ( ) [inline]

Member Function Documentation

void gcop_urdf::Joint::clear ( ) [inline]

References axis, calibration, child_link_name, gcop_urdf::Vector3::clear(), gcop_urdf::Pose::clear(), dynamics, limits, parent_link_name, parent_to_joint_origin_transform, safety, type, and UNKNOWN.

bool gcop_urdf::Joint::initXml ( TiXmlElement * xml )

Member Data Documentation

Vector3 gcop_urdf::Joint::axis

type_ meaning of axis_

------------------------------------------------------ UNKNOWN unknown type REVOLUTE rotation axis PRISMATIC translation axis FLOATING N/A PLANAR plane normal axis FIXED N/A

Referenced by clear().

boost::shared_ptr<JointCalibration> gcop_urdf::Joint::calibration

Unsupported Hidden Feature.

Referenced by clear().

std::string gcop_urdf::Joint::child_link_name

child Link element child link frame is the same as the Joint frame

Referenced by clear().

boost::shared_ptr<JointDynamics> gcop_urdf::Joint::dynamics

Joint Dynamics.

Referenced by clear().

boost::shared_ptr<JointLimits> gcop_urdf::Joint::limits

Joint Limits.