GrabMetadata.hpp

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#ifndef AIKIDO_ROBOT_GRABMETADATA_HPP_
#define AIKIDO_ROBOT_GRABMETADATA_HPP_
 
#include <dart/dynamics/dynamics.hpp>
 
namespace aikido {
namespace robot {
 
struct GrabMetadata
{
  GrabMetadata(
      dart::dynamics::BodyNodePtr bodyNode,
      const std::string& oldName,
      dart::dynamics::SkeletonPtr parentSkeleton,
      const dart::dynamics::FreeJoint::Properties& jointProperties);
 
  dart::dynamics::BodyNodePtr mBodyNode;
 
  std::string mOldName;
 
  dart::dynamics::SkeletonPtr mParentSkeleton;
 
  dart::dynamics::FreeJoint::Properties mJointProperties;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_GRABMETADATA_HPP_