Represents a link in a tinyrobotics model. More...

#include <Link.hpp>

Public Member Functions
void	add_child_link_idx (const int child_link_idx)
	Add a child link index to the list of child links.

template<typename NewScalar >
Link< NewScalar >	cast ()
	Casts the link to a new scalar type.

Public Attributes
std::string	name = ""
	Name of the link.

int	idx = -1
	Index of the link in the model's link vector.

int	parent = -1
	Index of the link's parent link in the model's link vector.

std::vector< int >	child_links = {}
	Vector of child link indices in the model's link vector.

Eigen::Transform< Scalar, 3, Eigen::Isometry >	centre_of_mass
	Center of mass of the link.

Eigen::Matrix< Scalar, 3, 3 >	inertia = Eigen::Matrix<Scalar, 3, 3>::Zero()
	Inertia matrix of the link [kg m^2].

Scalar	mass = 0
	Mass of the link [kg].

Joint< Scalar >	joint
	Joint connecting the link to its parent link.

Eigen::Matrix< Scalar, 6, 6 >	I = {}

Detailed Description

template<typename Scalar>
struct tr::model::Link< Scalar >

Represents a link in a tinyrobotics model.

Template Parameters

Scalar Scalar type of the link.

Member Function Documentation

template<typename Scalar >

void tr::model::Link< Scalar >::add_child_link_idx ( const int child_link_idx )

inline

Add a child link index to the list of child links.

Parameters

child_link_idx The index of the child link to add.

template<typename Scalar >

template<typename NewScalar >

Link< NewScalar > tr::model::Link< Scalar >::cast ( )

inline

Casts the link to a new scalar type.

Template Parameters

NewScalar scalar type to cast the link to.

template<typename Scalar >

Eigen::Transform<Scalar, 3, Eigen::Isometry> tr::model::Link< Scalar >::centre_of_mass

Initial value:

=

Eigen::Transform<Scalar, 3, Eigen::Isometry>::Identity()

Center of mass of the link.

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