Structure that holds all the parameters useful to create an edge. More...

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

Collaboration diagram for EdgeParameters:

Public Member Functions
	EdgeParameters ()=default
	Default Constructor.
	EdgeParameters (const std::string &jname, const std::string &source_name, const SE3 &source_to_joint, const std::string &target_name, const SE3 &joint_to_target, const JointVariant &joint, const boost::optional< Eigen::VectorXd > q_ref=boost::none)
	Constructor with all parameters.

Public Attributes
JointLimits	jlimit
JointVariant	joint = JointFixed()
	Type of joint for edge.
SE3	joint_to_target = SE3::Identity()
	Placement of target wrt edge.
std::string	name
	Edge name.
boost::optional< Eigen::VectorXd >	q_ref = boost::none
	Bias for the joint.
SE3	source_to_joint = SE3::Identity()
	Placement of Edge wrt source vertex.
std::string	source_vertex
	Source name.
std::string	target_vertex
	Target name.

Detailed Description

Structure that holds all the parameters useful to create an edge.

Definition at line 164 of file model-graph.hpp.

Member Data Documentation

◆ jlimit

JointLimits jlimit

Definition at line 184 of file model-graph.hpp.

◆ joint

JointVariant joint = JointFixed()

Type of joint for edge.

Definition at line 179 of file model-graph.hpp.

◆ joint_to_target

SE3 joint_to_target = SE3::Identity()

Placement of target wrt edge.

Definition at line 176 of file model-graph.hpp.

◆ name

std::string name

Edge name.

Definition at line 167 of file model-graph.hpp.

◆ q_ref

boost::optional<Eigen::VectorXd> q_ref = boost::none

Bias for the joint.

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

◆ source_to_joint

SE3 source_to_joint = SE3::Identity()

Placement of Edge wrt source vertex.

Definition at line 172 of file model-graph.hpp.

◆ source_vertex

std::string source_vertex

Source name.

Definition at line 170 of file model-graph.hpp.

◆ target_vertex

std::string target_vertex

Target name.

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

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

include/pinocchio/parsers/graph/model-graph.hpp

Public Member Functions

Public Attributes