fsb_urdf_joint.h

 
#pragma once
 
#include "fsb_motion.h"
#include "fsb_types.h"
#include "fsb_urdf_error.h"
#include "fsb_joint.h"
 
#include <string>
#include <tinyxml2.h>
 
namespace fsb::urdf
{
 
struct UrdfJointLimits
{
    Real lower_position = 0.0;
 
    Real upper_position = 0.0;
 
    Real max_velocity = 0.0;
 
    bool set = false;
};
 
struct UrdfJoint
{
    std::string joint_name;
 
    JointType joint_type = JointType::FIXED;
 
    std::string parent_name;
 
    std::string child_name;
 
    Transform parent_child_transform = {};
 
    UrdfJointLimits limits = {};
 
    bool reversed = false;
};
 
UrdfJoint
urdf_parse_joint(const std::string& fname, const tinyxml2::XMLElement* joint_xml, UrdfError& err);
 
} // namespace fsb::urdf