#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Detailed Description

Structs.

Description of a robot joint including its properties and limits

Classes
struct	Limits
	Defines the motion limits for a particular joint. More...

Public Types
enum class	Type { Fixed , Revolute , Prismatic }
	Enum class representing different types of robot joints. More...

Public Attributes
Type	type = Type::Revolute
	The type of joint movement (default: revolute)

std::string	name
	Unique identifier for the joint within the robot.

std::optional< Limits >	limits
	Stores joint information, including limits and references to associated kinematic and URDF joints.

const KDL::Joint *	kdlJoint = nullptr
	Providing read-only access to the kinematic properties oqf the joint.

const urdf::Joint *	urdfJoint = nullptr
	Providing read-only access to its properties in the URDF model.

Member Enumeration Documentation

enum class Type

strong

Enum class representing different types of robot joints.

Enumerator
Fixed	A joint with no degrees of freedom, rigidly connecting two links (e.g., for defining reference frames)
Revolute	A rotational joint allowing rotation around a single axis, specified by joint limits in radians.
Prismatic	A translational joint allowing linear motion along a single axis, specified by joint limits in meters.

Stores joint information, including limits and references to associated kinematic and URDF joints.

Optional joint limits, may be undefined for continuous joints

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