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.