RobotLinkNode

Fully qualified name: isaacsim::robot::schema::RobotLinkNode

class RobotLinkNode

Node representation for the robot kinematic tree.

Stores the prim metadata, parent relationship, outgoing child links, and the joint that attaches the node to its parent.

Public Functions

inline RobotLinkNode(

const pxr::UsdPrim &prim = pxr::UsdPrim(),

const std::shared_ptr<RobotLinkNode> &parent = nullptr,

const pxr::UsdPrim &joint = pxr::UsdPrim(),

)

Construct a node for a given prim.

Parameters:

• prim – [in] Prim represented by this node.

• parent – [in] Parent node in the tree.

• joint – [in] Joint that connects the parent to this node.

inline void addChild(const std::shared_ptr<RobotLinkNode> &child)

Add a child node.

Parameters:

child – [in] Node to append.

inline void addJoint(const pxr::UsdPrim &joint)

Record a joint connected to this link.

Parameters:

joint – [in] Joint prim to store.

inline const pxr::UsdPrim &getPrim() const

Access the prim associated with this node.

Returns:

const pxr::UsdPrim& Referenced prim.

inline const pxr::SdfPath &getPath() const

Access the prim path.

Returns:

const pxr::SdfPath& Referenced path.

inline const std::string &getName() const

Access the prim name.

Returns:

const std::string& Prim name.

inline std::shared_ptr<RobotLinkNode> getParent() const

Get the parent node.

Returns:

std::shared_ptr<RobotLinkNode> Parent node, if any.

inline const std::vector<std::shared_ptr<RobotLinkNode>> &getChildren(

) const

Access the children list.

Returns:

const std::vector<std::shared_ptr<RobotLinkNode>>& Child nodes.

inline const std::vector<pxr::UsdPrim> &getJoints() const

Access the joints connected at this node.

Returns:

const std::vector<pxr::UsdPrim>& Stored joints.

inline const pxr::UsdPrim &getJointToParent() const

Get the joint that connects this node to its parent.

Returns:

const pxr::UsdPrim& Joint prim.