Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc. More...

Public Member Functions
	RobotModelConfig ()

	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 >())

Detailed Description

Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc.

Constructor & Destructor Documentation

wbc::RobotModelConfig::RobotModelConfig ( )

inline

wbc::RobotModelConfig::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>() )

inline

std::vector<types::Contact> 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.

std::string wbc::RobotModelConfig::file_or_string

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

bool wbc::RobotModelConfig::floating_base

Does the robot have a floating base? Attaches a virtual 6 DoF floating base to the model, default is false

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

Optional: List of joints, which shall be ignored by the WBC, i.e., these joints will be set to "fixed" joints in the loaded urdf model

std::string wbc::RobotModelConfig::submechanism_file

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

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