Drake
TrackedBody Struct Reference

A structure used to store the attributes of a tracked rigid body. More...

#include <systems/sensors/optitrack_encoder.h>

Collaboration diagram for TrackedBody:
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Public Attributes

int id {}
 
std::string body_name
 
Eigen::Isometry3d T_WF
 

Detailed Description

A structure used to store the attributes of a tracked rigid body.

These are a subset of the complete set of attributes which the real Optitrack hardware maintains, but is typically sufficient for most applications.

Parameters
idThe rigid body ID as defined in the Optitrack software (e.g., Motive). This value must be unique and non-negative.
body_nameThe name of the Optitrack rigid body that is being tracked (not necessarily unique).
T_WFThe pose of this rigid body w.r.t. the world.

Member Data Documentation

std::string body_name
int id {}
Eigen::Isometry3d T_WF

The documentation for this struct was generated from the following file: