MjcfJoint Struct Reference

All joint information parsed from the mjcf model. More...

#include <pinocchio/parsers/mjcf/mjcf-graph.hpp>

Collaboration diagram for MjcfJoint:

Public Types
typedef boost::property_tree::ptree	ptree

Public Member Functions
void	fill (const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)
void	goThroughElement (const ptree &el, bool use_limits, const MjcfCompiler &currentCompiler)
	Go through a joint node (default class or not) and parse info into the structure.

Public Attributes
Eigen::Vector3d	axis = Eigen::Vector3d::UnitZ()
std::string	jointName = "free"
SE3	jointPlacement = SE3::Identity()
std::string	jointType = "hinge"
double	posRef = 0.
RangeJoint	range {1}

Detailed Description

All joint information parsed from the mjcf model.

Definition at line 174 of file mjcf-graph.hpp.

Member Typedef Documentation

ptree

typedef boost::property_tree::ptree ptree

Definition at line 177 of file mjcf-graph.hpp.

Member Function Documentation

fill()

void fill	(	const ptree &	el,
		const MjcfBody &	currentBody,
		const MjcfGraph &	currentGraph
	)

Parameters

el	ptree joint node
currentBody	body to which the joint belongs to
currentGraph	current Mjcf graph (needed to get compiler information)

goThroughElement()

void goThroughElement	(	const ptree &	el,
		bool	use_limits,
		const MjcfCompiler &	currentCompiler
	)

Go through a joint node (default class or not) and parse info into the structure.

Parameters

el	ptree joint node
use_limits	whether to parse the limits or not

Member Data Documentation

axis

Eigen::Vector3d axis = Eigen::Vector3d::UnitZ()

Definition at line 185 of file mjcf-graph.hpp.

jointName

std::string jointName = "free"

Definition at line 180 of file mjcf-graph.hpp.

jointPlacement

SE3 jointPlacement = SE3::Identity()

Definition at line 182 of file mjcf-graph.hpp.

jointType

std::string jointType = "hinge"

Definition at line 190 of file mjcf-graph.hpp.

posRef

double posRef = 0.

Definition at line 192 of file mjcf-graph.hpp.

range

RangeJoint range {1}

Definition at line 187 of file mjcf-graph.hpp.

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

• include/pinocchio/parsers/mjcf/mjcf-graph.hpp