viam::sdk::KinematicModel Struct Reference

A component's kinematics as a tree of links and joints. Its proto JSON encoding is also the on-disk kinematics file format. More...

#include <kinematics.hpp>

Public Attributes
std::string	name
	Set to the resource name by the SDK when served.
std::vector< KinematicLink >	links
std::vector< KinematicJoint >	joints
std::vector< std::string >	output_frames
	Frames whose poses the model reports.
boost::optional< KinematicProperties >	properties

Friends
bool	operator== (const KinematicModel &lhs, const KinematicModel &rhs)

Detailed Description

A component's kinematics as a tree of links and joints. Its proto JSON encoding is also the on-disk kinematics file format.

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The documentation for this struct was generated from the following file:

• src/viam/sdk/common/kinematics.hpp