DART  6.10.1
SkeletonAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
35 
36 #include <Eigen/Core>
41 
42 namespace dart {
43 namespace dynamics {
44 
45 class Skeleton;
46 
47 namespace detail {
48 
49 //==============================================================================
54 {
56  std::string mName;
57 
61  bool mIsMobile;
62 
64  Eigen::Vector3d mGravity;
65 
67  double mTimeStep;
68 
72 
77 
80  const std::string& _name = "Skeleton",
81  bool _isMobile = true,
82  const Eigen::Vector3d& _gravity = Eigen::Vector3d(0.0, 0.0, -9.81),
83  double _timeStep = 0.001,
84  bool _enabledSelfCollisionCheck = false,
85  bool _enableAdjacentBodyCheck = false);
86 
87  virtual ~SkeletonAspectProperties() = default;
88 };
89 
90 //==============================================================================
91 using BodyNodeStateVector = std::vector<common::Composite::State>;
92 using BodyNodePropertiesVector = std::vector<common::Composite::Properties>;
93 using JointStateVector = std::vector<common::Composite::State>;
94 using JointPropertiesVector = std::vector<common::Composite::Properties>;
95 
96 //==============================================================================
97 void setAllBodyNodeStates(Skeleton* skel, const BodyNodeStateVector& states);
98 
99 //==============================================================================
101 
102 //==============================================================================
105 
106 //==============================================================================
108 
109 //==============================================================================
112  Skeleton,
116 
117 //==============================================================================
120  Skeleton,
124 
125 //==============================================================================
127  Skeleton,
130 
131 //==============================================================================
132 void setAllJointStates(Skeleton* skel, const JointStateVector& states);
133 
134 //==============================================================================
136 
137 //==============================================================================
140 
141 //==============================================================================
143 
144 //==============================================================================
147  Skeleton,
151 
152 //==============================================================================
155  Skeleton,
159 
160 //==============================================================================
162  Skeleton,
165 
166 //==============================================================================
169 
170 //==============================================================================
172  Skeleton,
175 
176 } // namespace detail
177 } // namespace dynamics
178 } // namespace dart
179 
180 #endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
If your Aspect has Properties, then that Properties class should inherit this Aspect::Properties clas...
Definition: Aspect.hpp:86
If your Aspect has a State, then that State class should inherit this Aspect::State class.
Definition: Aspect.hpp:65
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:240
Definition: Cloneable.hpp:140
Definition: ProxyAspect.hpp:61
RequiresAspect allows classes that inherit Composite to know which Aspects are required for their ope...
Definition: RequiresAspect.hpp:50
class Skeleton
Definition: Skeleton.hpp:59
BodyNodePropertiesVector getAllBodyNodeProperties(const Skeleton *skel)
Definition: Skeleton.cpp:236
common::ProxyCloneable< common::Aspect::State, Skeleton, BodyNodeStateVector, &setAllBodyNodeStates, &getAllBodyNodeStates > BodyNodeVectorProxyAspectState
Definition: SkeletonAspect.hpp:115
std::vector< common::Composite::State > JointStateVector
Definition: SkeletonAspect.hpp:93
std::vector< common::Composite::State > BodyNodeStateVector
Definition: SkeletonAspect.hpp:91
common::ProxyCloneable< common::Aspect::State, Skeleton, JointStateVector, &setAllJointStates, &getAllJointStates > JointVectorProxyAspectState
Definition: SkeletonAspect.hpp:150
JointPropertiesVector getAllJointProperties(const Skeleton *skel)
Definition: Skeleton.cpp:289
void setAllJointProperties(Skeleton *skel, const JointPropertiesVector &properties)
Definition: Skeleton.cpp:275
std::vector< common::Composite::Properties > JointPropertiesVector
Definition: SkeletonAspect.hpp:94
JointStateVector getAllJointStates(const Skeleton *skel)
Definition: Skeleton.cpp:262
void setAllBodyNodeProperties(Skeleton *skel, const BodyNodePropertiesVector &properties)
Definition: Skeleton.cpp:222
std::vector< common::Composite::Properties > BodyNodePropertiesVector
Definition: SkeletonAspect.hpp:92
void setAllBodyNodeStates(Skeleton *skel, const BodyNodeStateVector &states)
Definition: Skeleton.cpp:196
BodyNodeStateVector getAllBodyNodeStates(const Skeleton *skel)
Definition: Skeleton.cpp:209
void setAllJointStates(Skeleton *skel, const JointStateVector &states)
Definition: Skeleton.cpp:249
Definition: BulletCollisionDetector.cpp:65
The Properties of this Skeleton which are independent of the components within the Skeleton,...
Definition: SkeletonAspect.hpp:54
bool mEnabledAdjacentBodyCheck
True if self collision check is enabled, including adjacent bodies.
Definition: SkeletonAspect.hpp:76
double mTimeStep
Time step for implicit joint damping force.
Definition: SkeletonAspect.hpp:67
std::string mName
Name of the Skeleton.
Definition: SkeletonAspect.hpp:56
Eigen::Vector3d mGravity
Gravity vector.
Definition: SkeletonAspect.hpp:64
SkeletonAspectProperties(const std::string &_name="Skeleton", bool _isMobile=true, const Eigen::Vector3d &_gravity=Eigen::Vector3d(0.0, 0.0, -9.81), double _timeStep=0.001, bool _enabledSelfCollisionCheck=false, bool _enableAdjacentBodyCheck=false)
Default constructor.
Definition: Skeleton.cpp:178
bool mEnabledSelfCollisionCheck
True if self collision check is enabled.
Definition: SkeletonAspect.hpp:71
bool mIsMobile
If the skeleton is not mobile, its dynamic effect is equivalent to having infinite mass.
Definition: SkeletonAspect.hpp:61