raisim::urdf::UrdfLinkInertial

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

Internal: URDF inertial element parsed by LoadFromURDF2.

Constructors & destructor

UrdfLinkInertial

UrdfLinkInertial()

Public attributes

origin

Vec<3> origin

Inertial origin offset in link frame.

rot

Mat<3, 3> rot

Inertial orientation in link frame.

mass

double mass

Link mass in kilograms.

inertia

Mat<3, 3> inertia

Link inertia matrix about the COM, expressed in the inertial frame (origin, rot).