#include <RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotSegment.h>

Represents a robot joint associated with a RobotSegment. Defines the name, type and limits of a particular joint. More...

Detailed Description

Represents a robot joint associated with a RobotSegment. Defines the name, type and limits of a particular joint.

Public Types
enum class	Type : short { Fixed , Revolute , Prismatic , Unsupported = -1 }

using	JointLimits = std::pair<double, double>

Public Member Functions
	RobotJoint (std::string name, std::string segment, std::string parent, const Type &type, JointLimits limits, bool passive=false, std::optional< std::string > mimics={})

bool	isActive () const

bool	isPassive () const

Type	type () const

std::string	name () const

std::string	segment () const

std::string	parent () const

JointLimits	limits () const

std::optional< std::string >	mimics () const

Member Enumeration Documentation

enum class Type : short

strong

Enumerator
Fixed	Useful to set arbitrary reference frames (e.g. end effector w.r.t. the flange)
Revolute	Pure rotation about the joint axis.
Prismatic	Translation along the joint axis.
Unsupported	Types defined in urdf::Joint that are not supported (yet)

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