Module kinematics_with_shape

Defines a structure that combines the kinematic model of a robot with its geometrical shape. This struct provides both the kinematic functionality for computing joint positions and the physical structure used for collision detection and other geometric calculations.

Structs

KinematicsWithShape

Struct that combines the kinematic model of a robot with its geometrical shape. This struct provides both the kinematic functionality for computing joint positions and the physical structure used for collision detection and other geometric calculations.

PositionedJoint

Struct representing a positioned joint, which consists of a reference to a JointBody and its precomputed combined transform. This is the global transform of the joint combined with the local transforms of the collision shapes within the joint.

PositionedRobot

Struct representing a robot with positioned joints. It contains a vector of references to PositionedJoint, where each joint has its precomputed global transform.