wbc
RobotModelConfig.hpp
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1#ifndef WBC_CORE_ROBOTMODELCONFIG_HPP
2#define WBC_CORE_ROBOTMODELCONFIG_HPP
3
4#include <vector>
6
7namespace wbc{
8
9
14public:
16 floating_base = false;
17 }
18 RobotModelConfig(const std::string& file_or_string,
19 const bool floating_base = false,
20 const std::vector<types::Contact> &contact_points = std::vector<types::Contact>(),
21 const std::string& submechanism_file = "",
22 const std::vector<std::string> &joint_blacklist = std::vector<std::string>()) :
28
29 }
30
32 std::string file_or_string;
34 std::string submechanism_file;
38 std::vector<types::Contact> contact_points;
40 std::vector<std::string> joint_blacklist;
41};
42
43}
44#endif // WBC_CORE_ROBOTMODELCONFIG_HPP
Definition ContactsAccelerationConstraint.cpp:3
bool floating_base
Definition RobotModelConfig.hpp:36
std::vector< std::string > joint_blacklist
Definition RobotModelConfig.hpp:40
RobotModelConfig()
Definition RobotModelConfig.hpp:15
std::string submechanism_file
Definition RobotModelConfig.hpp:34
RobotModelConfig(const std::string &file_or_string, const bool floating_base=false, const std::vector< types::Contact > &contact_points=std::vector< types::Contact >(), const std::string &submechanism_file="", const std::vector< std::string > &joint_blacklist=std::vector< std::string >())
Definition RobotModelConfig.hpp:18
std::vector< types::Contact > contact_points
Definition RobotModelConfig.hpp:38
std::string file_or_string
Definition RobotModelConfig.hpp:32