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

Defines a description of a robot link including its visual properties and connections. More...

Detailed Description

Defines a description of a robot link including its visual properties and connections.

Public Attributes
std::string	name
	Unique identifier for the link within the robot.

std::vector< Visual >	visuals
	A collection of visual elements associated with the link, used for rendering and visualization.

const KDL::Segment *	kdlSegment = nullptr
	Pointer to the corresponding Kinematics and Dynamics Library (KDL) segment representing the kinematic properties of the link.

const urdf::Link *	urdfLink = nullptr
	Pointer to the corresponding URDF link, providing read-only access to its structural and physical properties.

Member Data Documentation

const KDL::Segment* kdlSegment = nullptr

Pointer to the corresponding Kinematics and Dynamics Library (KDL) segment representing the kinematic properties of the link.

It defines the transformation, joint type, and motion constraints of a robot link

const urdf::Link* urdfLink = nullptr

Pointer to the corresponding URDF link, providing read-only access to its structural and physical properties.

This includes visual, collision, and inertial characteristics as defined in the URDF model.

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