MIRA
Link.h
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1 /*
2  * Copyright (C) 2012 by
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4  * and
5  * Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
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38 
47 #ifndef _MIRA_LINK_H_
48 #define _MIRA_LINK_H_
49 
50 #include <model/Inertial.h>
51 #include <model/Visual.h>
52 #include <model/Collision.h>
53 
54 namespace mira { namespace model {
55 
57 
64 {
65 public:
66 
67  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 
69  template<typename Reflector>
70  void reflect(Reflector& r)
71  {
72  r.member("Name", name, "Name of the link");
73  r.member("Inertial", inertial, "Inertia properties", InertialPtr());
74  r.member("Visuals", visuals, "Visual representation", std::vector<VisualPtr>());
75  r.member("Collisions", collisions, "Collision representation", std::vector<CollisionPtr>());
76  }
77 
78  std::string name;
80  std::vector<VisualPtr> visuals;
81  std::vector<CollisionPtr> collisions;
82 };
83 
84 typedef boost::shared_ptr<Link> LinkPtr;
85 
87 
88 }}
89 
90 #endif
boost::shared_ptr< Link > LinkPtr
Definition: Link.h:84
boost::shared_ptr< Inertial > InertialPtr
Pointer to an interial.
Definition: Inertial.h:82
Inertial description of a link.
#define MIRA_RIGID_MODEL_EXPORT
Definition: RigidModelExports.h:61
Collision description of a model component.
A visual description of a models component.