dyn::Link

rb::dyn::Link represents one rigid link in the model tree. It owns the link name, its collision set, and the parent or child joint relationships that make up the robot structure.

Header

Header

#include <rby1-sdk/dynamics/link.h>

Declaration

Namespace	rb::dyn
Kind	class
Primary role	Represent one rigid-body link and its attached collision geometry.

Public Member Functions

Method group	Purpose	Notes
Make(...)	Construct a link with a default or explicit inertial matrix.	Static factory for new trees.
AddCollision(...) and GetCollisions()	Attach or inspect collision objects.	Use while building or auditing a model.
GetParentJoint() and GetChildJointList()	Traverse link-to-joint connectivity.	Exposed in mutable and const forms.
GetName()	Read the link name.	Useful for debugging and search.

Detailed Reference

class Link : public std::enable_shared_from_this<Link>

Public Functions

void AddCollision(const std::shared_ptr<Collision> &collision)

std::vector<std::shared_ptr<Joint>> GetChildJointList()

const std::vector<std::shared_ptr<Joint>> &GetChildJointList() const

std::vector<std::shared_ptr<Collision>> GetCollisions()

const std::vector<std::shared_ptr<Collision>> &GetCollisions() const

std::string GetName() const

std::weak_ptr<Joint> GetParentJoint()

std::weak_ptr<const Joint> GetParentJoint() const

Public Static Functions

static std::shared_ptr<Link> Make(std::string name, Inertial::MatrixType I = Inertial::I(1.))

Friends

friend class Joint

friend class Robot

Related Types

• dyn::Joint

• dyn::Inertial

• dyn::Robot

Examples

• dynamics/load_urdf.cpp shows the link tree in context.