#include <drake/systems/plants/RigidBody.h>

Collaboration diagram for RigidBody:

Classes
class	CollisionElement

Public Member Functions
	RigidBody ()

const std::string &	name () const
	Name of the body. More...

const std::string &	model_name () const
	An accessor for the name of the model or robot that this rigid body is a part of. More...

int	get_model_id () const
	Returns the ID of the model to which this rigid body belongs. More...

void	set_model_id (int model_id)
	Sets the ID of the model to which this rigid body belongs. More...

void	setJoint (std::unique_ptr< DrakeJoint > joint)
	Sets the parent joint through which this rigid body connects to its parent rigid body. More...

const DrakeJoint &	getJoint () const
	An accessor to this rigid body's parent joint. More...

bool	hasParent () const

bool	has_as_parent (const RigidBody &other) const
	Checks if a particular rigid body is the parent of this rigid body. More...

void	addVisualElement (const DrakeShapes::VisualElement &elements)

const DrakeShapes::VectorOfVisualElements &	getVisualElements () const

void	setCollisionFilter (const DrakeCollision::bitmask &group, const DrakeCollision::bitmask &ignores)

const DrakeCollision::bitmask &	getCollisionFilterGroup () const

void	setCollisionFilterGroup (const DrakeCollision::bitmask &group)

const DrakeCollision::bitmask &	getCollisionFilterIgnores () const

void	setCollisionFilterIgnores (const DrakeCollision::bitmask &ignores)

void	addToCollisionFilterGroup (const DrakeCollision::bitmask &group)

void	ignoreCollisionFilterGroup (const DrakeCollision::bitmask &group)

void	collideWithCollisionFilterGroup (const DrakeCollision::bitmask &group)

bool	adjacentTo (const RigidBody &other) const

bool	CollidesWith (const RigidBody &other) const

bool	appendCollisionElementIdsFromThisBody (const std::string &group_name, std::vector< DrakeCollision::ElementId > &ids) const

bool	appendCollisionElementIdsFromThisBody (std::vector< DrakeCollision::ElementId > &ids) const

void	ApplyTransformToJointFrame (const Eigen::Isometry3d &transform_body_to_joint)
	Transforms all of the visual, collision, and inertial elements associated with this body to the proper joint frame. More...

Public Attributes
std::string	name_
	The name of this rigid body. More...

std::string	model_name_
	The name of the model to which this rigid body belongs. More...

int	robotnum
	A unique ID for each model. It uses 0-index, starts from 0. More...

RigidBody *	parent
	The rigid body that's connected to this rigid body's joint. More...

int	body_index
	The index of this rigid body in the rigid body tree. More...

int	position_num_start
	The starting index of this rigid body's joint's position value(s) within the parent tree's state vector. More...

int	velocity_num_start
	The starting index of this rigid body's joint's velocity value(s) within the parent tree's state vector. More...

DrakeShapes::VectorOfVisualElements	visual_elements
	A list of visual elements for this RigidBody. More...

std::vector< DrakeCollision::ElementId >	collision_element_ids

std::map< std::string, std::vector< DrakeCollision::ElementId > >	collision_element_groups

Eigen::Matrix3Xd	contact_pts

double	mass
	The mass of this rigid body. More...

Eigen::Vector3d	com
	The center of mass of this rigid body. More...

drake::SquareTwistMatrix< double >	I
	The spatial rigid body inertia of this rigid body. More...

Friends
std::ostream &	operator<< (std::ostream &out, const RigidBody &b)

Constructor & Destructor Documentation

RigidBody ( )

Member Function Documentation

void addToCollisionFilterGroup ( const DrakeCollision::bitmask & group )

inline

void addVisualElement ( const DrakeShapes::VisualElement & elements )

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bool adjacentTo ( const RigidBody & other ) const

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bool appendCollisionElementIdsFromThisBody	(	const std::string &	group_name,
		std::vector< DrakeCollision::ElementId > &	ids
	)		const

bool appendCollisionElementIdsFromThisBody ( std::vector< DrakeCollision::ElementId > & ids ) const

void ApplyTransformToJointFrame ( const Eigen::Isometry3d & transform_body_to_joint )

Transforms all of the visual, collision, and inertial elements associated with this body to the proper joint frame.

This is necessary, for instance, to support SDF loading where the child frame can be specified independently from the joint frame. In our RigidBodyTree classes, the body frame IS the joint frame.

Parameters

transform_body_to_joint The transform from this body's frame to the joint's frame.

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bool CollidesWith ( const RigidBody & other ) const

inline

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void collideWithCollisionFilterGroup ( const DrakeCollision::bitmask & group )

inline

int get_model_id ( ) const

Returns the ID of the model to which this rigid body belongs.

const DrakeCollision::bitmask& getCollisionFilterGroup ( ) const

inline

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const DrakeCollision::bitmask& getCollisionFilterIgnores ( ) const

inline

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const DrakeJoint & getJoint ( ) const

An accessor to this rigid body's parent joint.

By "parent joint" we mean the joint through which this rigid body connects to its parent rigid body in the rigid body tree.

Returns: The parent joint of this rigid body.

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const DrakeShapes::VectorOfVisualElements & getVisualElements ( ) const

bool has_as_parent ( const RigidBody & other ) const

inline

Checks if a particular rigid body is the parent of this rigid body.

Parameters

[in] other The potential parent of this rigid body.

Returns: true if the supplied rigid body parameter other is the parent of this rigid body.

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bool hasParent ( ) const

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void ignoreCollisionFilterGroup ( const DrakeCollision::bitmask & group )

inline

const std::string & model_name ( ) const

An accessor for the name of the model or robot that this rigid body is a part of.

Returns: The name of the model that this rigid body belongs to.

const std::string & name ( ) const

Name of the body.

An accessor for the name of the body that this rigid body represents.

Returns: The name of the body that's modeled by this rigid body.

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void set_model_id ( int model_id )

Sets the ID of the model to which this rigid body belongs.

void setCollisionFilter	(	const DrakeCollision::bitmask &	group,
		const DrakeCollision::bitmask &	ignores
	)

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void setCollisionFilterGroup ( const DrakeCollision::bitmask & group )

inline

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void setCollisionFilterIgnores ( const DrakeCollision::bitmask & ignores )

inline

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void setJoint ( std::unique_ptr< DrakeJoint > joint )

Sets the parent joint through which this rigid body connects to its parent rigid body.

Parameters

[in] joint The parent joint of this rigid body. Note that this rigid body assumes ownership of this joint.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	out,
		const RigidBody &	b
	)

friend

Member Data Documentation

int body_index

The index of this rigid body in the rigid body tree.

std::map<std::string, std::vector<DrakeCollision::ElementId> > collision_element_groups

std::vector<DrakeCollision::ElementId> collision_element_ids

Eigen::Vector3d com

The center of mass of this rigid body.

Eigen::Matrix3Xd contact_pts

drake::SquareTwistMatrix<double> I

The spatial rigid body inertia of this rigid body.

double mass

The mass of this rigid body.

std::string model_name_

The name of the model to which this rigid body belongs.

std::string name_

The name of this rigid body.

RigidBody* parent

The rigid body that's connected to this rigid body's joint.

int position_num_start

The starting index of this rigid body's joint's position value(s) within the parent tree's state vector.

int robotnum

A unique ID for each model. It uses 0-index, starts from 0.

int velocity_num_start

The starting index of this rigid body's joint's velocity value(s) within the parent tree's state vector.

DrakeShapes::VectorOfVisualElements visual_elements

A list of visual elements for this RigidBody.

The documentation for this class was generated from the following files:

drake/systems/plants/RigidBody.h
drake/systems/plants/RigidBody.cpp

Classes

Public Member Functions

Public Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation