VirtualRobot::SceneObject::Physics Struct Reference

Public Types
enum	CoMLocation { eCustom, eVisuBBoxCenter }
enum	SimulationType { eStatic, eKinematic, eDynamic, eUnknown }

Public Member Functions
	Physics ()
std::string	getString (SimulationType s) const
void	print () const
bool	isSet ()
virtual std::string	toXML (int tabs)
Physics	scale (float scaling) const

Data Fields
Eigen::Vector3f	localCoM
	Defined in the local coordinate system of this object [mm]. More...
float	massKg
	The mass of this object. More...
float	friction
	Friction of this object. Use -1.0 to use simulator's default value. More...
CoMLocation	comLocation
	Where is the CoM located. More...
Eigen::Matrix3f	inertiaMatrix
SimulationType	simType
	in kg*m^2 More...
std::vector< std::string >	ignoreCollisions

Member Enumeration Documentation

CoMLocation

enum VirtualRobot::SceneObject::Physics::CoMLocation

Enumerator
eCustom	Not related to 3d model, the position is set by hand.
eVisuBBoxCenter	The CoM position is automatically computed from the bounding box of the collision model.

SimulationType

enum VirtualRobot::SceneObject::Physics::SimulationType

Enumerator
eStatic
eKinematic
eDynamic
eUnknown

Constructor & Destructor Documentation

Physics()

VirtualRobot::SceneObject::Physics::Physics

(

)

Member Function Documentation

getString()

std::string VirtualRobot::SceneObject::Physics::getString

(

SimulationType

s

)

const

isSet()

bool VirtualRobot::SceneObject::Physics::isSet

(

)

print()

void VirtualRobot::SceneObject::Physics::print

(

)

const

scale()

SceneObject::Physics VirtualRobot::SceneObject::Physics::scale

(

float

scaling

)

const

toXML()

std::string VirtualRobot::SceneObject::Physics::toXML ( int  tabs )

virtual

Field Documentation

comLocation

CoMLocation VirtualRobot::SceneObject::Physics::comLocation

Where is the CoM located.

friction

float VirtualRobot::SceneObject::Physics::friction

Friction of this object. Use -1.0 to use simulator's default value.

ignoreCollisions

std::vector< std::string > VirtualRobot::SceneObject::Physics::ignoreCollisions

inertiaMatrix

Eigen::Matrix3f VirtualRobot::SceneObject::Physics::inertiaMatrix

localCoM

Eigen::Vector3f VirtualRobot::SceneObject::Physics::localCoM

Defined in the local coordinate system of this object [mm].

massKg

float VirtualRobot::SceneObject::Physics::massKg

The mass of this object.

simType

SimulationType VirtualRobot::SceneObject::Physics::simType

in kg*m^2