mc_rbdyn::Base Struct Reference

#include <mc_rbdyn/Base.h>

Public Attributes
std::string	baseName
sva::PTransformd	X_0_s
sva::PTransformd	X_b0_s
rbd::Joint::Type	baseType

Detailed Description

This struct represents a base for the creation of a robot

Member Data Documentation

baseName

std::string mc_rbdyn::Base::baseName

Name of the base

baseType

rbd::Joint::Type mc_rbdyn::Base::baseType

Type of the root joint

X_0_s

sva::PTransformd mc_rbdyn::Base::X_0_s

Transformation from the world to the root joint

X_b0_s

sva::PTransformd mc_rbdyn::Base::X_b0_s

Transformation from the root body to the root joint

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

• include/mc_rbdyn/Base.h