DART
6.10.1
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The Properties of this Skeleton which are independent of the components within the Skeleton, such as its BodyNodes and Joints. More...
#include <SkeletonAspect.hpp>
Public Member Functions | |
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. More... | |
virtual | ~SkeletonAspectProperties ()=default |
Public Attributes | |
std::string | mName |
Name of the Skeleton. More... | |
bool | mIsMobile |
If the skeleton is not mobile, its dynamic effect is equivalent to having infinite mass. More... | |
Eigen::Vector3d | mGravity |
Gravity vector. More... | |
double | mTimeStep |
Time step for implicit joint damping force. More... | |
bool | mEnabledSelfCollisionCheck |
True if self collision check is enabled. More... | |
bool | mEnabledAdjacentBodyCheck |
True if self collision check is enabled, including adjacent bodies. More... | |
The Properties of this Skeleton which are independent of the components within the Skeleton, such as its BodyNodes and Joints.
This does not include any Properties of the Skeleton's Aspects.
dart::dynamics::detail::SkeletonAspectProperties::SkeletonAspectProperties | ( | const std::string & | _name = "Skeleton" , |
bool | _isMobile = true , |
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const Eigen::Vector3d & | _gravity = Eigen::Vector3d(0.0, 0.0, -9.81) , |
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double | _timeStep = 0.001 , |
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bool | _enabledSelfCollisionCheck = false , |
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bool | _enableAdjacentBodyCheck = false |
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) |
Default constructor.
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virtualdefault |
bool dart::dynamics::detail::SkeletonAspectProperties::mEnabledAdjacentBodyCheck |
True if self collision check is enabled, including adjacent bodies.
Note: If mEnabledSelfCollisionCheck is false, then this value will be ignored.
bool dart::dynamics::detail::SkeletonAspectProperties::mEnabledSelfCollisionCheck |
True if self collision check is enabled.
Use mEnabledAdjacentBodyCheck to disable collision checks between adjacent bodies.
Eigen::Vector3d dart::dynamics::detail::SkeletonAspectProperties::mGravity |
Gravity vector.
bool dart::dynamics::detail::SkeletonAspectProperties::mIsMobile |
If the skeleton is not mobile, its dynamic effect is equivalent to having infinite mass.
If the configuration of an immobile skeleton is manually changed, the collision results might not be correct.
std::string dart::dynamics::detail::SkeletonAspectProperties::mName |
Name of the Skeleton.
double dart::dynamics::detail::SkeletonAspectProperties::mTimeStep |
Time step for implicit joint damping force.