DART 6.7.3
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BodyNodeAspect.hpp
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32
33#ifndef DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
34#define DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
35
41
42namespace dart {
43namespace dynamics {
44
45class Skeleton;
46
47const double DART_DEFAULT_FRICTION_COEFF = 1.0;
49
50namespace detail {
51
52//==============================================================================
54{
57
58 BodyNodeState(const Eigen::Vector6d& Fext = Eigen::Vector6d::Zero());
59
60 virtual ~BodyNodeState() = default;
61
62 // To get byte-aligned Eigen vectors
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
64};
65
66//==============================================================================
68{
70 std::string mName;
71
74
77
80
83
86
89 const std::string& name = "BodyNode",
90 const Inertia& _inertia = Inertia(),
91 bool _isCollidable = true,
92 double _frictionCoeff = DART_DEFAULT_FRICTION_COEFF,
93 double _restitutionCoeff = DART_DEFAULT_RESTITUTION_COEFF,
94 bool _gravityMode = true);
95
96 virtual ~BodyNodeAspectProperties() = default;
97};
98
99//==============================================================================
101using NodeStateMap = std::map< std::type_index, std::unique_ptr<NodeTypeStateVector> >;
103
104//==============================================================================
106using NodePropertiesMap = std::map< std::type_index, std::unique_ptr<NodeTypePropertiesVector> >;
108
109//==============================================================================
110void setAllNodeStates(BodyNode* bodyNode, const AllNodeStates& states);
111
112//==============================================================================
114
115//==============================================================================
117 BodyNode* bodyNode, const AllNodeProperties& properties);
118
119//==============================================================================
121
122//==============================================================================
126
127//==============================================================================
131
132//==============================================================================
135
136//==============================================================================
140
141} // namespace detail
142} // namespace dynamics
143} // namespace dart
144
145#endif // DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
BodyPropPtr properties
Definition SdfParser.cpp:80
std::string * name
Definition SkelParser.cpp:1642
If your Aspect has Properties, then that Properties class should inherit this Aspect::Properties clas...
Definition Aspect.hpp:83
If your Aspect has a State, then that State class should inherit this Aspect::State class.
Definition Aspect.hpp:64
MapHolder is a templated wrapper class that is used to allow maps of Aspect::State and Aspect::Proper...
Definition Cloneable.hpp:224
The CloneableVector type wraps a std::vector of an Cloneable type allowing it to be handled by an Clo...
Definition Cloneable.hpp:293
This is an alternative to EmbedStateAndProperties which allows your class to also inherit other Compo...
Definition EmbeddedAspect.hpp:438
Definition Cloneable.hpp:140
Definition ProxyAspect.hpp:57
RequiresAspect allows classes that inherit Composite to know which Aspects are required for their ope...
Definition RequiresAspect.hpp:48
BodyNode class represents a single node of the skeleton.
Definition BodyNode.hpp:78
Definition Inertia.hpp:44
Matrix< double, 6, 1 > Vector6d
Definition MathTypes.hpp:49
AllNodeProperties getAllNodeProperties(const BodyNode *bodyNode)
Definition BodyNode.cpp:204
common::ProxyCloneable< common::Aspect::State, BodyNode, AllNodeStates, &setAllNodeStates, &getAllNodeStates > NodeVectorProxyAspectState
Definition BodyNodeAspect.hpp:125
AllNodeStates getAllNodeStates(const BodyNode *bodyNode)
Definition BodyNode.cpp:191
void setAllNodeProperties(BodyNode *bodyNode, const AllNodeProperties &properties)
Definition BodyNode.cpp:197
void setAllNodeStates(BodyNode *bodyNode, const AllNodeStates &states)
Definition BodyNode.cpp:185
std::map< std::type_index, std::unique_ptr< NodeTypeStateVector > > NodeStateMap
Definition BodyNodeAspect.hpp:101
std::map< std::type_index, std::unique_ptr< NodeTypePropertiesVector > > NodePropertiesMap
Definition BodyNodeAspect.hpp:106
common::CloneableMap< NodePropertiesMap > AllNodeProperties
Definition BodyNodeAspect.hpp:107
common::CloneableMap< NodeStateMap > AllNodeStates
Definition BodyNodeAspect.hpp:102
const double DART_DEFAULT_FRICTION_COEFF
Definition BodyNodeAspect.hpp:47
const double DART_DEFAULT_RESTITUTION_COEFF
Definition BodyNodeAspect.hpp:48
Definition BulletCollisionDetector.cpp:63
Definition BodyNodeAspect.hpp:68
double mFrictionCoeff
Coefficient of friction.
Definition BodyNodeAspect.hpp:79
double mRestitutionCoeff
Coefficient of restitution.
Definition BodyNodeAspect.hpp:82
bool mGravityMode
Gravity will be applied if true.
Definition BodyNodeAspect.hpp:85
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
Eigen::Vector6d mFext
External spatial force.
Definition BodyNodeAspect.hpp:56