raisim::TrackDefinition
struct · #include <raisim/object/ArticulatedSystem/Track.hpp>
Internal: a <track> as read by the URDF loader, with its belt geometry already added to the link.
Public attributes
name
cpp
std::string namelink
cpp
std::string linkaxis
cpp
Vec<3> axiswidth
cpp
double widththickness
cpp
double thicknessdrives
cpp
std::vector<std::pair<std::string, double>> drives(joint name, gain) of each <drive>
arcCollisions
cpp
std::vector<std::string> arcCollisionsnames of the generated collision bodies: one cylinder per wheel on the loop, then the spans
spanCollisions
cpp
std::vector<std::string> spanCollisions