ModelGraphEdge Struct Reference

Represents an edge (joint) in the model graph. More...

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

Collaboration diagram for ModelGraphEdge:

Public Attributes
bool	forward = true
	boolean to know if we are in a forward or backward edge
JointLimits	jlimit
	All the limits of the joint.
JointVariant	joint
	What is the type of the joint.
SE3	joint_to_target
	Transformation from edge to next vertex.
std::string	name
	Unique name of the joint.
SE3	source_to_joint
	Transformation from the previous vertex to edge.

Detailed Description

Represents an edge (joint) in the model graph.

Definition at line 51 of file model-graph.hpp.

Member Data Documentation

forward

bool forward = true

boolean to know if we are in a forward or backward edge

Definition at line 73 of file model-graph.hpp.

jlimit

JointLimits jlimit

All the limits of the joint.

Definition at line 60 of file model-graph.hpp.

joint

JointVariant joint

What is the type of the joint.

Definition at line 57 of file model-graph.hpp.

joint_to_target

SE3 joint_to_target

Transformation from edge to next vertex.

Correspond to the transformation from the current joint to its supported body.

Definition at line 70 of file model-graph.hpp.

name

std::string name

Unique name of the joint.

Definition at line 54 of file model-graph.hpp.

source_to_joint

SE3 source_to_joint

Transformation from the previous vertex to edge.

Correspond to the transformation from body supporting joint to said joint

Definition at line 65 of file model-graph.hpp.

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

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