spatial_dyn::RigidBody Class Reference

#include <rigid_body.h>

Public Member Functions
	RigidBody ()=default
	RigidBody (const std::string &name)
int	id () const
void	set_id (int id)
int	id_parent () const
void	set_id_parent (int id_parent)
const Eigen::Isometry3d &	T_to_parent () const
template<typename Derived >
void	set_T_to_parent (const Eigen::RotationBase< Derived, 3 > &ori_in_parent, const Eigen::Vector3d &pos_in_parent)
void	set_T_to_parent (const Eigen::Isometry3d &T_to_parent)
const SpatialInertiad &	inertia () const
void	set_inertia (double mass, const Eigen::Vector3d &com, const Eigen::Vector6d &I_com_flat)
void	set_inertia (const SpatialInertiad &inertia)
const Joint &	joint () const
void	set_joint (const Joint &joint)

Public Attributes
std::string	name
std::vector< Graphics >	graphics

Detailed Description

Rigid body struct for spatial_dyn.

Comprised of an articulated joint and the attached rigid body.

See also

Python: spatialdyn.RigidBody

Constructor & Destructor Documentation

RigidBody() [1/2]

spatial_dyn::RigidBody::RigidBody ( )

default

Default constructor.

RigidBody() [2/2]

spatial_dyn::RigidBody::RigidBody ( const std::string &  name )

inline

Constructor that sets the name of the rigid body.

Parameters

name	Name of the rigid body.

See also

Python: spatialdyn.RigidBody.__init__()

Member Function Documentation

id()

int spatial_dyn::RigidBody::id ( ) const

inline

Returns

ID of the rigid body as assigned by ArticulatedBody::AddRigidBody().

See also

Python: spatialdyn.RigidBody.id

id_parent()

int spatial_dyn::RigidBody::id_parent ( ) const

inline

Returns

ID of the rigid body's parent as assigned by ArticulatedBody::AddRigidBody().

See also

Python: spatialdyn.RigidBody.id_parent

inertia()

const SpatialInertiad& spatial_dyn::RigidBody::inertia ( ) const

inline

Returns

Spatial inertia of the rigid body. Defaults to a 1kg point mass at the origin of the rigid body's frame.

See also

Python: spatialdyn.RigidBody.inertia

joint()

const Joint& spatial_dyn::RigidBody::joint ( ) const

inline

Returns

Joint attached to the rigid body.

See also

Python: spatialdyn.RigidBody.joint

set_inertia() [1/2]

void spatial_dyn::RigidBody::set_inertia

(

const SpatialInertiad &

inertia

)

Set the spatial inertia of the rigid body.

Parameters

inertia

Spatial inertia of the rigid body.

set_inertia() [2/2]

void spatial_dyn::RigidBody::set_inertia	(	double	mass,
		const Eigen::Vector3d &	com,
		const Eigen::Vector6d &	I_com_flat
	)

Set the spatial inertia of the rigid body.

Parameters

mass	Mass of the rigid body.
com	Center of mass of the rigid body.
I_com_flat	Inertia of the rigid body as a flat vector {I_xx, I_xy, I_xz, I_yy, I_yz, I_zz}`.

set_joint()

void spatial_dyn::RigidBody::set_joint ( const Joint &  joint )

inline

Set the joint attached to the rigid body.

Parameters

joint

Joint.

set_T_to_parent() [1/2]

void spatial_dyn::RigidBody::set_T_to_parent ( const Eigen::Isometry3d &  T_to_parent )

inline

Set the fixed transform from the rigid body's frame to its parent's frame when the joint position is 0.

Parameters

T_to_parent

Transform from the rigid body frame to its parent's frame.

set_T_to_parent() [2/2]

template<typename Derived >

void spatial_dyn::RigidBody::set_T_to_parent ( const Eigen::RotationBase< Derived, 3 > &  ori_in_parent, const Eigen::Vector3d &  pos_in_parent  )

inline

Set the fixed transform from the rigid body's frame to its parent's frame when the joint position is 0.

Parameters

ori_in_parent	Orientation of the rigid body in its parent's frame.
pos_in_parent	Position of the rigid body in its parent's frame.

T_to_parent()

const Eigen::Isometry3d& spatial_dyn::RigidBody::T_to_parent ( ) const

inline

Returns

Fixed transform from the rigid body's frame to its parent's frame when the joint position is 0. Defaults to identity.

See also

Python: spatialdyn.RigidBody.T_to_parent

Member Data Documentation

graphics

std::vector<Graphics> spatial_dyn::RigidBody::graphics

mutable

Graphics for the rigid body.

See also

Python: spatialdyn.RigidBody.graphics

name

std::string spatial_dyn::RigidBody::name

mutable

Name of the rigid body for debugging purposes.

See also

Python: spatialdyn.RigidBody.name

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The documentation for this class was generated from the following files:

• /home/runner/work/spatial-dyn/spatial-dyn/include/spatial_dyn/structs/rigid_body.h
• /home/runner/work/spatial-dyn/spatial-dyn/src/structs/rigid_body.cc