33 #ifndef DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
102 double _frictionCoeff,
103 double _restitutionCoeff,
110 bool isCollidable = true,
111 bool gravityMode = true);
118 = common::CloneableVector<
std::unique_ptr<
Node::State> >;
125 = common::CloneableVector<
std::unique_ptr<
Node::Properties> >;
145 common::Aspect::State,
153 common::Aspect::Properties,
#define DART_DEPRECATED(version)
Definition: Deprecated.hpp:51
BodyPropPtr properties
Definition: SdfParser.cpp:80
std::string * name
Definition: SkelParser.cpp:1697
MapHolder is a templated wrapper class that is used to allow maps of Aspect::State and Aspect::Proper...
Definition: Cloneable.hpp:221
The CloneableVector type wraps a std::vector of an Cloneable type allowing it to be handled by an Clo...
Definition: Cloneable.hpp:288
This is an alternative to EmbedStateAndProperties which allows your class to also inherit other Compo...
Definition: EmbeddedAspect.hpp:435
Definition: Cloneable.hpp:140
Definition: ProxyAspect.hpp:61
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Definition: Inertia.hpp:44
The Node class is a base class for BodyNode and any object that attaches to a BodyNode.
Definition: Node.hpp:81
Matrix< double, 6, 1 > Vector6d
Definition: MathTypes.hpp:49
std::map< std::type_index, std::unique_ptr< NodeTypePropertiesVector > > NodePropertiesMap
Definition: BodyNodeAspect.hpp:127
AllNodeProperties getAllNodeProperties(const BodyNode *bodyNode)
Definition: BodyNode.cpp:214
AllNodeStates getAllNodeStates(const BodyNode *bodyNode)
Definition: BodyNode.cpp:201
void setAllNodeProperties(BodyNode *bodyNode, const AllNodeProperties &properties)
Definition: BodyNode.cpp:207
void setAllNodeStates(BodyNode *bodyNode, const AllNodeStates &states)
Definition: BodyNode.cpp:195
std::map< std::type_index, std::unique_ptr< NodeTypeStateVector > > NodeStateMap
Definition: BodyNodeAspect.hpp:120
const double DART_DEFAULT_FRICTION_COEFF
Definition: BodyNodeAspect.hpp:47
const double DART_DEFAULT_RESTITUTION_COEFF
Definition: BodyNodeAspect.hpp:48
Definition: BulletCollisionDetector.cpp:65
Definition: SharedLibraryManager.hpp:46
Definition: BodyNodeAspect.hpp:68
double mFrictionCoeff
Coefficient of friction.
Definition: BodyNodeAspect.hpp:82
double mRestitutionCoeff
Coefficient of restitution.
Definition: BodyNodeAspect.hpp:88
bool mGravityMode
Gravity will be applied if true.
Definition: BodyNodeAspect.hpp:91
std::string mName
Name of the Entity.
Definition: BodyNodeAspect.hpp:70
Inertia mInertia
Inertia information for the BodyNode.
Definition: BodyNodeAspect.hpp:73
bool mIsCollidable
Indicates whether this node is collidable;.
Definition: BodyNodeAspect.hpp:76
Definition: BodyNodeAspect.hpp:54
BodyNodeState(const Eigen::Vector6d &Fext=Eigen::Vector6d::Zero())
Definition: BodyNode.cpp:220
Eigen::Vector6d mFext
External spatial force.
Definition: BodyNodeAspect.hpp:56
virtual ~BodyNodeState()=default