jrl-dynamics-urdf Documentation

jrl_dynamics_urdf is a jrl-dynamics loader for URDF files.

Code API

The entry point of this package is the jrl::dynamics::urdf::Parser class. Once the object is instantiated (the constructor does not take any argument), the parse method can be called with the URDF filename and the root free-floating point name. This will return a jrl-dynamics humanoid robot that can be used for dynamics computation.

For additional details regarding how to realize dynamics computation, see the jrl-dynamics documentation directly.