sas_robot_driver_gazebo::SdfManipulatorResult Struct Reference

Result of loading a serial manipulator from SDF. More...

#include <SdfSerialManipulatorLoader.h>

Public Attributes
marinholab::sas::core::modeling::SerialManipulatorSimulatorFriendly	model
	The constructed model.
std::vector< std::string >	joint_names
	Name of each SDF joint, in chain order (parent -> child).
std::vector< std::string >	link_names
	Name of each SDF child link, in chain order.
std::vector< std::string >	actuation_type_names
	Actuation type string per joint: "RZ" or "TZ".
std::vector< DQ_robotics::DQ >	offsets_before
	Per-joint pre-actuation offset DQs, in chain order.
std::vector< DQ_robotics::DQ >	offsets_after
	Per-joint post-actuation offset DQs, in chain order.
Eigen::VectorXd	lower_limits
	Lower joint limits, in chain order.
Eigen::VectorXd	upper_limits
	Upper joint limits, in chain order.
std::string	source_path
	Path of the SDF file the model was loaded from.
std::string	source_scope
	Name of the kinematic model used to build the result.

Detailed Description

Result of loading a serial manipulator from SDF.

Contains the fully-constructed kinematic model (joint limits and reference frame already applied) plus the names used to build it, so callers can correlate the i-th joint of the model with its SDF name.

Member Data Documentation

source_scope

std::string sas_robot_driver_gazebo::SdfManipulatorResult::source_scope

Name of the kinematic model used to build the result.

For a model file this is the model's name; for a world file it is the "::"-separated chain of nested model names from the world's top-level model down to the kinematic model (e.g. "ur3e::ur3e_position_controller::ur3e").

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

• src/sas_robot_driver_gazebo/include/sas_robot_driver_gazebo/SdfSerialManipulatorLoader.h