raisim::urdf::UrdfLink

struct · #include <raisim/object/ArticulatedSystem/loaders.hpp>

Internal: URDF link parsed by LoadFromURDF2.

Public attributes

name

std::string name

Link name.

parentJoint

UrdfJoint parentJoint

Joint connecting this link to its parent.

parent

UrdfLink *parent

Pointer to the parent link (nullptr for root).

child

std::vector<UrdfLink *> child

Child link pointers.

visual

std::vector<UrdfBody> visual

Visual geometries.

collision

std::vector<UrdfBody> collision

Collision geometries.

inertial

UrdfLinkInertial inertial

Inertial properties for the link.

color_

Vec<4> color_

RGBA color override.

sensorSet

SensorSet *sensorSet

Sensor set attached to the link (if any). PHY-023: explicitly null so a directly-constructed UrdfLink (not via the pair used by the loader) never carries an indeterminate pointer.