DART  6.10.1
dart::dynamics::detail::SkeletonAspectProperties Struct Reference

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...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ SkeletonAspectProperties()

dart::dynamics::detail::SkeletonAspectProperties::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.

◆ ~SkeletonAspectProperties()

virtual dart::dynamics::detail::SkeletonAspectProperties::~SkeletonAspectProperties ( )
virtualdefault

Member Data Documentation

◆ mEnabledAdjacentBodyCheck

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.

◆ mEnabledSelfCollisionCheck

bool dart::dynamics::detail::SkeletonAspectProperties::mEnabledSelfCollisionCheck

True if self collision check is enabled.

Use mEnabledAdjacentBodyCheck to disable collision checks between adjacent bodies.

◆ mGravity

Eigen::Vector3d dart::dynamics::detail::SkeletonAspectProperties::mGravity

Gravity vector.

◆ mIsMobile

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.

◆ mName

std::string dart::dynamics::detail::SkeletonAspectProperties::mName

Name of the Skeleton.

◆ mTimeStep

double dart::dynamics::detail::SkeletonAspectProperties::mTimeStep

Time step for implicit joint damping force.