candlewick::multibody::RobotSpec Struct Reference

#include <candlewick/multibody/RobotLoader.h>

Public Member Functions
RobotSpec &	ensure_absolute_filepaths ()

Public Attributes
std::filesystem::path	urdf_path
	Path to the URDF file.
std::filesystem::path	srdf_path
	Path to the SRDF file.
std::filesystem::path	base_package_path
	Path to the base package path.
std::filesystem::path	relative_package_path
	Path to the actual model package, relative to the base path.
bool	has_free_flyer = false

Member Function Documentation

ensure_absolute_filepaths()

RobotSpec & candlewick::multibody::RobotSpec::ensure_absolute_filepaths ( )

inline

Member Data Documentation

base_package_path

std::filesystem::path candlewick::multibody::RobotSpec::base_package_path

Path to the base package path.

has_free_flyer

bool candlewick::multibody::RobotSpec::has_free_flyer = false

Whether the model should have a pinocchio::JointModelFreeFlyer as its root.

relative_package_path

std::filesystem::path candlewick::multibody::RobotSpec::relative_package_path

Path to the actual model package, relative to the base path.

srdf_path

std::filesystem::path candlewick::multibody::RobotSpec::srdf_path

Path to the SRDF file.

urdf_path

std::filesystem::path candlewick::multibody::RobotSpec::urdf_path

Path to the URDF file.

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

• src/candlewick/multibody/RobotLoader.h