Overview

ALRobotModel allows instantiating a robot from a xml file defining it. All of the possible models are provided with this lib. Once created , the Sim::Model provides information about its skeleton, made of a collection of links (Sim::Link) and joints (Sim::Joint), their position (given by the Sim::Frame class) and how their are connected. It also gives a list of its actuators (Sim::Actuator) and its sensors (Sim::Sensor) and their position.