33#ifndef DART_DYNAMICS_SHAPEFRAME_HPP_
34#define DART_DYNAMICS_SHAPEFRAME_HPP_
53 detail::VisualAspectProperties,
67 void setRGBA(
const Eigen::Vector4d& color);
117 detail::CollisionAspectProperties,
130 bool isCollidable()
const;
138 detail::DynamicsAspectProperties,
161 public virtual common::VersionCounter,
162 public detail::ShapeFrameCompositeBase,
176 const Eigen::Isometry3d& oldTransform,
177 const Eigen::Isometry3d& newTransform)>;
194 void setShape(
const ShapePtr& shape);
212 const
ShapeFrame* asShapeFrame() const override;
215 bool isShapeNode() const;
226 virtual const
ShapeNode* asShapeNode() const;
249 common::Connection mConnectionForShapeVersionChange;
258 onRelativeTransformUpdated;
#define DART_COMMON_SET_GET_ASPECT_PROPERTY(Type, Name)
Definition Aspect.hpp:189
#define DART_COMMON_GET_ASPECT_PROPERTY(Type, Name)
Definition Aspect.hpp:184
BodyPropPtr properties
Definition SdfParser.cpp:80
typename Impl::AspectProperties AspectProperties
Definition EmbeddedAspect.hpp:254
AspectWithProtectedProperties generates implementations of the Property managing functions for an Asp...
Definition AspectWithVersion.hpp:107
PropertiesDataT PropertiesData
Definition AspectWithVersion.hpp:112
AspectWithVersionedProperties(const AspectWithVersionedProperties &)=delete
BodyNode class represents a single node of the skeleton.
Definition BodyNode.hpp:78
Definition ShapeFrame.hpp:119
CollisionAspect(const CollisionAspect &)=delete
Definition ShapeFrame.hpp:140
DynamicsAspect(const DynamicsAspect &)=delete
The Frame class serves as the backbone of DART's kinematic tree structure.
Definition Frame.hpp:57
Definition ShapeFrame.hpp:164
AspectProperties UniqueProperties
Definition ShapeFrame.hpp:179
UniqueProperties Properties
Definition ShapeFrame.hpp:180
Definition ShapeNode.hpp:49
Definition ShapeFrame.hpp:55
void setColor(const Eigen::Vector3d &color)
Identical to setRGB(const Eigen::Vector3d&)
Definition ShapeFrame.cpp:97
void setRGB(const Eigen::Vector3d &rgb)
Set RGB color components (leave alpha alone)
Definition ShapeFrame.cpp:109
VisualAspect(const VisualAspect &)=delete
void hide()
Hide the ShapeNode.
Definition ShapeFrame.cpp:146
double getAlpha() const
Get the transparency of the Shape.
Definition ShapeFrame.cpp:140
Eigen::Vector3d getRGB() const
Get RGB color components.
Definition ShapeFrame.cpp:134
Eigen::Vector3d getColor() const
Get color.
Definition ShapeFrame.cpp:128
void setRGBA(const Eigen::Vector4d &color)
Set RGBA color.
Definition ShapeFrame.cpp:87
void show()
Show the ShapeNode.
Definition ShapeFrame.cpp:152
void setAlpha(const double alpha)
Set the transparency of the Shape.
Definition ShapeFrame.cpp:118
bool isHidden() const
True iff the ShapeNode is set to be hidden.
Definition ShapeFrame.cpp:158
#define DART_BAKE_SPECIALIZED_ASPECT(AspectName)
Definition Composite.hpp:226
Definition Random-impl.hpp:92
std::shared_ptr< Shape > ShapePtr
Definition SmartPointer.hpp:81
std::shared_ptr< const Shape > ConstShapePtr
Definition SmartPointer.hpp:81
Definition BulletCollisionDetector.cpp:63
Definition SharedLibraryManager.hpp:43
Definition ShapeFrameAspect.hpp:90
Definition ShapeFrameAspect.hpp:52