scl::SRigidBody Struct Reference

#include <SRigidBody.hpp>

Inheritance diagram for scl::SRigidBody:

Collaboration diagram for scl::SRigidBody:

Public Member Functions
	SRigidBody ()
void	init ()
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	robot_name_
sInt	link_id_
std::string	parent_name_
SRigidBody *	parent_addr_
std::vector< SRigidBody * >	child_addrs_
std::vector< SRigidBody * >	gr_parent_names_
std::vector< SRigidBody * >	gr_parent_addrs_
std::vector< SRigidBody * >	gr_child_addrs_
sBool	is_root_
Eigen::Vector3d	pos_in_parent_
	Position in the parent frame. More...
Eigen::Quaternion< sFloat >	ori_parent_quat_
Eigen::Vector3d	com_
	Center of mass position (in own frame) More...
sFloat	mass_
	Mass. More...
Eigen::Matrix3d	inertia_
	Inertia at the center of mass. More...
sInt	link_is_fixed_
	(No joints) Fixed links are simply merged into upper links. More...
std::string	joint_name_
sFloat	joint_limit_lower_
sFloat	joint_limit_upper_
sFloat	joint_default_pos_
EJointType	joint_type_
std::vector< std::string >	sp_joint_name_
std::vector< sBool >	sp_joint_broken_in_spanning_tree_
Eigen::VectorXd	sp_joint_limit_lower_
Eigen::VectorXd	sp_joint_limit_upper_
Eigen::VectorXd	sp_joint_default_pos_
Eigen::MatrixXd	sp_S_joint_
	Column vectors correspond to spatial directions of motion. More...
Eigen::MatrixXd	sp_Sorth_joint_
	Column vectors correspond to spatial directions of constraint. More...
std::vector< SRigidBodyGraphics >	graphics_obj_vec_
sInt	collision_type_
ERenderType	render_type_
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

This structure contains all the information required to construct a robot link. Each robot is completely defined by a tree of such links.

Constructor & Destructor Documentation

scl::SRigidBody::SRigidBody

(

)

Constructor

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

void scl::SRigidBody::init

(

)

Sets the default parameter values

Member Data Documentation

Eigen::Vector3d scl::SRigidBody::com_

Center of mass position (in own frame)

Mass and inertia properties

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

Eigen::Matrix3d scl::SRigidBody::inertia_

Inertia at the center of mass.

sInt scl::SRigidBody::link_id_

This link id will be autogenerated by scl. It MUST match all dynamics and graphics implementations NOTE : Ids are not read in from a file. They are autogenerated by scl.

sInt scl::SRigidBody::link_is_fixed_

(No joints) Fixed links are simply merged into upper links.

sFloat scl::SRigidBody::mass_

Mass.

std::string scl::SObject::name_

inherited

The object's name

Eigen::Quaternion<sFloat> scl::SRigidBody::ori_parent_quat_

Orientation in the parent frame. NOTE : In files, Quaternion is stored in the form << x, y, z, w/real >>

Eigen::Vector3d scl::SRigidBody::pos_in_parent_

Position in the parent frame.

Eigen::MatrixXd scl::SRigidBody::sp_S_joint_

Column vectors correspond to spatial directions of motion.

Eigen::MatrixXd scl::SRigidBody::sp_Sorth_joint_

Column vectors correspond to spatial directions of constraint.

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

• /home/samir/Code/control/scl.git/src/scl/data_structs/SRigidBody.hpp
• /home/samir/Code/control/scl.git/src/scl/data_structs/SRigidBody.cpp