adam.parametric.model.parametric_factories.parametric_model
===========================================================

.. py:module:: adam.parametric.model.parametric_factories.parametric_model


Classes
-------

.. autoapisummary::

   adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory


Module Contents
---------------

.. py:class:: URDFParametricModelFactory(path: str, math: adam.core.spatial_math.SpatialMath, links_name_list: list, length_multiplier, densities)

   Bases: :py:obj:`adam.model.ModelFactory`


   This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities

   :param ModelFactory: the Model factory


   .. py:attribute:: math


   .. py:attribute:: links_name_list


   .. py:attribute:: urdf_desc


   .. py:attribute:: name


   .. py:attribute:: length_multiplier


   .. py:attribute:: densities


   .. py:method:: get_joints() -> list[adam.model.Joint]

      :returns: build the list of the joints
      :rtype: list[Joint]



   .. py:method:: get_links() -> list[adam.model.Link]

      :returns: build the list of the links
      :rtype: list[Link]



   .. py:method:: get_frames() -> list[adam.model.StdLink]

      :returns: build the list of the links
      :rtype: list[Link]



   .. py:method:: build_joint(joint: urdf_parser_py.urdf.Joint) -> adam.model.Joint

      :param joint: the urdf_parser_py joint
      :type joint: Joint

      :returns: our joint representation
      :rtype: StdJoint/ParametricJoint



   .. py:method:: build_link(link: urdf_parser_py.urdf.Link) -> adam.model.Link

      :param link: the urdf_parser_py link
      :type link: Link

      :returns: our link representation
      :rtype: StdLink/ParametricLink



   .. py:method:: get_element_by_name(link_name)

      :param link_name: the link name
      :type link_name: Link

      :returns: the urdf parser link object associated to the link name
      :rtype: Link