wbc::RobotModelConfig Struct Reference

Robot Model configuration class. More...

#include <RobotModelConfig.hpp>

Public Member Functions
	RobotModelConfig ()
	RobotModelConfig (const std::string &file_or_string, const bool floating_base=false, const ActiveContacts &contact_points=ActiveContacts(), const std::string &submechanism_file="")
void	validate ()

Public Attributes
std::string	file_or_string
std::string	submechanism_file
std::string	type
bool	floating_base
ActiveContacts	contact_points
std::vector< std::string >	joint_blacklist

Detailed Description

Robot Model configuration class.

Constructor & Destructor Documentation

RobotModelConfig() [1/2]

wbc::RobotModelConfig::RobotModelConfig ( )

inline

RobotModelConfig() [2/2]

wbc::RobotModelConfig::RobotModelConfig ( const std::string & file_or_string, const bool floating_base = false, const ActiveContacts & contact_points = ActiveContacts(), const std::string & submechanism_file = "" )

inline

Member Function Documentation

validate()

void wbc::RobotModelConfig::validate ( )

inline

Member Data Documentation

contact_points

ActiveContacts wbc::RobotModelConfig::contact_points

Optional: Link names that are possibly in contact with the environment. These have to be valid link names in the robot model.

file_or_string

std::string wbc::RobotModelConfig::file_or_string

Absolute path to URDF file describing the robot model or URDF string.

floating_base

bool wbc::RobotModelConfig::floating_base

Optional: Attach a virtual 6 DoF floating base to the model: Naming scheme of the joints is currently fixed: floating_base_trans_x, floating_base_trans_y, floating_base_trans_z, floating_base_rot_x, floating_base_rot_y, floating_base_rot_z

joint_blacklist

std::vector<std::string> wbc::RobotModelConfig::joint_blacklist

submechanism_file

std::string wbc::RobotModelConfig::submechanism_file

Only Hyrodyn models: Absolute path to submechanism file, which describes the kinematic structure including parallel mechanisms.

type

std::string wbc::RobotModelConfig::type

Model type. Must be the exact name of one of the registered robot model plugins. See src/robot_models for all available plugins. Default is pinocchio

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

• src/core/RobotModelConfig.hpp