33 #ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
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);
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
virtual ~SkeletonAspectProperties()=default
bool mIsMobile
If the skeleton is not mobile, its dynamic effect is equivalent to having infinite mass.
Definition: SkeletonAspect.hpp:61