DART  6.7.3
dart::dynamics::Marker Class Referencefinal

#include <Marker.hpp>

Inheritance diagram for dart::dynamics::Marker:
dart::common::EmbedPropertiesOnTopOf< Marker, detail::MarkerProperties, FixedJacobianNode > dart::common::CompositeJoiner< OtherBases >

Public Types

using ConstraintType = detail::MarkerProperties::ConstraintType
 
using BasicProperties = common::Composite::MakeProperties< NameAspect, FixedFrame, Marker >
 
using Properties = common::Composite::Properties
 
using Impl = EmbedProperties< Marker, detail::MarkerProperties >
 
using Derived = typename Impl::Derived
 
using AspectPropertiesData = typename Impl::AspectPropertiesData
 
using AspectProperties = typename Impl::AspectProperties
 
using Aspect = typename Impl::Aspect
 
using Base = CompositeJoiner< Impl, CompositeBases... >
 

Public Member Functions

virtual ~Marker ()=default
 Destructor. More...
 
void setAspectProperties (const AspectProperties &properties)
 Set the AspectProperties of this Marker. More...
 
BodyNodegetBodyNode ()
 Get the BodyNode this Marker belongs to. More...
 
const BodyNodegetBodyNode () const
 Get the (const) BodyNode this Marker belongs to. More...
 
Eigen::Vector3d getLocalPosition () const
 Get position of this marker in the parent body node coordinates. More...
 
void setLocalPosition (const Eigen::Vector3d &offset)
 Set position of this marker in the parent body node coordinates. More...
 
Eigen::Vector3d getWorldPosition () const
 Get position in the world coordinates. More...
 
int getID () const
 Get global unique ID. More...
 
void setConstraintType (ConstraintType type)
 Set constraint type. which will be useful for inverse kinematics. More...
 
ConstraintType getConstraintType () const
 Get constraint type. which will be useful for inverse kinematics. More...
 
void setColor (const Eigen::Vector4d &color)
 Set the color of this Marker. More...
 
const Eigen::Vector4d & getColor () const
 Return color of this Marker. More...
 
const AspectPropertiesgetAspectProperties () const
 

Static Public Attributes

static constexpr ConstraintType NO = detail::MarkerProperties::NO
 
static constexpr ConstraintType HARD = detail::MarkerProperties::HARD
 
static constexpr ConstraintType SOFT = detail::MarkerProperties::SOFT
 

Protected Member Functions

 Marker (BodyNode *parent, const BasicProperties &properties)
 Constructor used by BodyNode. More...
 
NodecloneNode (BodyNode *parent) const override
 

Protected Attributes

AspectProperties mAspectProperties
 Aspect::Properties data, directly accessible to your derived class. More...
 

Private Attributes

int mID
 Unique ID of this marker globally. More...
 

Static Private Attributes

static int msMarkerCount = 0
 Counts the number of markers globally. More...
 

Friends

class BodyNode
 

Member Typedef Documentation

◆ Aspect

using dart::common::EmbedPropertiesOnTopOf< Marker , detail::MarkerProperties , CompositeBases >::Aspect = typename Impl::Aspect
inherited

◆ AspectProperties

using dart::common::EmbedPropertiesOnTopOf< Marker , detail::MarkerProperties , CompositeBases >::AspectProperties = typename Impl::AspectProperties
inherited

◆ AspectPropertiesData

◆ Base

using dart::common::EmbedPropertiesOnTopOf< Marker , detail::MarkerProperties , CompositeBases >::Base = CompositeJoiner<Impl, CompositeBases...>
inherited

◆ BasicProperties

◆ ConstraintType

◆ Derived

◆ Impl

using dart::common::EmbedPropertiesOnTopOf< Marker , detail::MarkerProperties , CompositeBases >::Impl = EmbedProperties<Marker , detail::MarkerProperties >
inherited

◆ Properties

Constructor & Destructor Documentation

◆ ~Marker()

virtual dart::dynamics::Marker::~Marker ( )
virtualdefault

Destructor.

◆ Marker()

dart::dynamics::Marker::Marker ( BodyNode parent,
const BasicProperties properties 
)
protected

Constructor used by BodyNode.

Member Function Documentation

◆ cloneNode()

Node * dart::dynamics::Marker::cloneNode ( BodyNode parent) const
overrideprotected

◆ getAspectProperties()

const AspectProperties& dart::common::EmbedProperties< Marker , detail::MarkerProperties >::getAspectProperties
inlineinherited

◆ getBodyNode() [1/2]

BodyNode * dart::dynamics::Marker::getBodyNode ( )

Get the BodyNode this Marker belongs to.

Deprecated: Use getBodyNodePtr() instead

◆ getBodyNode() [2/2]

const BodyNode * dart::dynamics::Marker::getBodyNode ( ) const

Get the (const) BodyNode this Marker belongs to.

Deprecated: Use getBodyNodePtr() instead

◆ getColor()

const Eigen::Vector4d & dart::dynamics::Marker::getColor ( ) const

Return color of this Marker.

◆ getConstraintType()

Marker::ConstraintType dart::dynamics::Marker::getConstraintType ( ) const

Get constraint type. which will be useful for inverse kinematics.

◆ getID()

int dart::dynamics::Marker::getID ( ) const

Get global unique ID.

◆ getLocalPosition()

Eigen::Vector3d dart::dynamics::Marker::getLocalPosition ( ) const

Get position of this marker in the parent body node coordinates.

◆ getWorldPosition()

Eigen::Vector3d dart::dynamics::Marker::getWorldPosition ( ) const

Get position in the world coordinates.

◆ setAspectProperties()

void dart::dynamics::Marker::setAspectProperties ( const AspectProperties properties)

Set the AspectProperties of this Marker.

◆ setColor()

void dart::dynamics::Marker::setColor ( const Eigen::Vector4d &  color)

Set the color of this Marker.

◆ setConstraintType()

void dart::dynamics::Marker::setConstraintType ( Marker::ConstraintType  type)

Set constraint type. which will be useful for inverse kinematics.

◆ setLocalPosition()

void dart::dynamics::Marker::setLocalPosition ( const Eigen::Vector3d &  offset)

Set position of this marker in the parent body node coordinates.

Friends And Related Function Documentation

◆ BodyNode

friend class BodyNode
friend

Member Data Documentation

◆ HARD

constexpr Marker::ConstraintType dart::dynamics::Marker::HARD = detail::MarkerProperties::HARD
staticconstexpr

◆ mAspectProperties

Aspect::Properties data, directly accessible to your derived class.

◆ mID

int dart::dynamics::Marker::mID
private

Unique ID of this marker globally.

◆ msMarkerCount

int dart::dynamics::Marker::msMarkerCount = 0
staticprivate

Counts the number of markers globally.

◆ NO

constexpr Marker::ConstraintType dart::dynamics::Marker::NO = detail::MarkerProperties::NO
staticconstexpr

◆ SOFT

constexpr Marker::ConstraintType dart::dynamics::Marker::SOFT = detail::MarkerProperties::SOFT
staticconstexpr