holds all user-set manipulator information used to initialize the Manipulator class. More...
#include <robot.h>
Public Member Functions | |
ManipulatorInfo () | |
virtual | ~ManipulatorInfo () |
Public Attributes | |
std::string | _name |
std::string | _sBaseLinkName |
std::string | _sEffectorLinkName |
name of the base and effector links of the robot used to determine the chain | |
Transform | _tLocalTool |
std::vector< dReal > | _vClosingDirection |
the normal direction to move joints to 'close' the hand | |
Vector | _vdirection |
std::string | _sIkSolverXMLId |
xml id of the IkSolver interface to attach | |
std::vector< std::string > | _vGripperJointNames |
names of the gripper joints | |
holds all user-set manipulator information used to initialize the Manipulator class.
This is serializable and independent of environment.
|
inline |
|
inlinevirtual |
std::string OpenRAVE::RobotBase::ManipulatorInfo::_sBaseLinkName |
std::string OpenRAVE::RobotBase::ManipulatorInfo::_sEffectorLinkName |
std::string OpenRAVE::RobotBase::ManipulatorInfo::_sIkSolverXMLId |
std::vector<dReal> OpenRAVE::RobotBase::ManipulatorInfo::_vClosingDirection |
std::vector<std::string> OpenRAVE::RobotBase::ManipulatorInfo::_vGripperJointNames |