KinematicChain

Fully qualified name: isaacsim::asset::importer::urdf::KinematicChain

Structs

Node

Represents a single node in the kinematic tree.

class KinematicChain

Represents the kinematic chain of a robot as a tree structure.

This class builds and manages a tree representation of a robot’s kinematic structure, where each node represents a link connected by joints. The tree structure allows for efficient traversal and analysis of the robot’s kinematic relationships.

Public Functions

KinematicChain() = default

Default constructor creates an empty kinematic chain.

~KinematicChain()

Destructor cleans up the kinematic tree.

bool computeKinematicChain(const UrdfRobot &urdfRobot)

Computes the kinematic chain for a URDF robot description.

Parameters:

urdfRobot – [in] URDF robot data structure to build chain from

Returns:

True if kinematic chain was successfully computed, false otherwise

Public Members

std::unique_ptr<Node> baseNode

Root node of the kinematic tree (base link)

struct Node

Represents a single node in the kinematic tree.

Each node represents a link in the robot with its associated parent joint and child nodes (links). This forms a tree structure representing the complete kinematic chain of the robot.

Public Functions

inline Node(std::string linkName, std::string parentJointName)

Constructs a new node with specified link and parent joint names.

Parameters:

• linkName – [in] Name of the link for this node

• parentJointName – [in] Name of the parent joint connecting this link

Public Members

std::string linkName_

Name of the link represented by this node.

std::string parentJointName_

Name of the parent joint connecting this link.

std::vector<std::unique_ptr<Node>> childNodes_

Collection of child nodes (links) connected to this node.