Expand description
Tree-structured robot kinematics and dynamics with allocation-free calculation APIs.
Structs§
- Base
State - Runtime state of a floating URDF root link.
- Floating
Robot - A floating-base robot model with reusable, instance-local calculation storage.
- Indexed
Load - A resisting wrench associated with a model-scoped link identifier.
- Inverse
Kinematics Options - Configuration for damped-least-squares inverse kinematics.
- LinkId
- An opaque, model-scoped identifier for a link.
- Load
Buffer - Model-scoped, reusable storage for at most one resisting wrench per link.
- Robot
- A fixed-base robot model with reusable, instance-local calculation storage.
- Robot
Model - Immutable, shared robot topology and inertial data without calculation storage.
- Twist
- Angular-first spatial twist vector
[angular_x, angular_y, angular_z, linear_x, linear_y, linear_z]. - Wrench
- Torque-first spatial force vector
[torque_x, torque_y, torque_z, force_x, force_y, force_z].
Enums§
- Error
- Errors returned while constructing or evaluating a robot model.
- Error
Category - Stable, coarse classification of errors for language bindings and callers.
- Joint
Type - Joint motion supported by
Robot.