raisim::ArticulatedSystem::LinkRef

class · #include <raisim/object/ArticulatedSystem/ArticulatedSystem.hpp>

Lightweight handle to a body (link) of an ArticulatedSystem, obtained by getLink(). It stores a raw pointer to the system, which must outlive the handle.

Constructors & destructor

LinkRef

LinkRef(size_t localId, ArticulatedSystem *system)

Parameters

Parameter	Description
localId (in)	body index
system (in)	the owning articulated system

Public member functions

getPosition

void getPosition(Vec<3> &position) const

Parameters

Parameter	Description
position (out)	world-frame position of the body frame origin (its parent joint) [m]

getOrientation

void getOrientation(Mat<3, 3> &orientation) const

Parameters

Parameter	Description
orientation (out)	world-frame orientation of the body frame

getPose

void getPose(Vec<3> &position, Mat<3, 3> &orientation) const

Parameters

Parameter	Description
position (out)	world-frame position of the body frame origin [m]
orientation (out)	world-frame orientation of the body frame

getCollisionDefinition

CollisionDefinition *getCollisionDefinition(const std::string &name)

Parameters

Parameter	Description
name (in)	collision body name (e.g., "LINK_NAME/0" for URDF models)

Returns the collision body of this link, or nullptr if not found. Owned by the system.

getVisualObject

VisObject *getVisualObject(const std::string &name)

Parameters

Parameter	Description
name (in)	visual object name

Returns the visual object of this link, or nullptr if not found. Owned by the system.

setWeight

void setWeight(double weight)

Set the body mass and call ArticulatedSystem::updateMassInfo().

Parameters

Parameter	Description
weight (in)	mass [kg]

getWeight

double getWeight() const

Returns body mass [kg]

setInertia

void setInertia(const Mat<3, 3> &inertia)

Parameters

Parameter	Description
inertia (in)	inertia about the body COM, expressed in the body frame [kg m^2]

getInertia

const Mat<3, 3> &getInertia() const

Returns inertia about the body COM, expressed in the body frame [kg m^2]

setComPositionInParentFrame

void setComPositionInParentFrame(const Vec<3> &com)

Set the center of mass position. Despite the name, it is expressed in this body's own frame (the same storage as ArticulatedSystem::getBodyCOM_B()).

Parameters

Parameter	Description
com (in)	COM position in the body frame [m]

getComPositionInParentFrame

const Vec<3> &getComPositionInParentFrame() const

Despite the name, the returned position is expressed in this body's own frame (the same storage as ArticulatedSystem::getBodyCOM_B()).

Returns COM position in the body frame [m]

getCollisionSet

const std::unordered_map<std::string, CollisionDefinition *> &getCollisionSet() const

Returns collision bodies of this link, keyed by name (collected when the LinkRef was created)

getVisualSet

const std::unordered_map<std::string, VisObject *> &getVisualSet() const

Returns visual objects of this link, keyed by name (collected when the LinkRef was created)