raisim::Body

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

Inertial, collision and visual properties of a link, used to build an articulated system (see Child).

Constructors & destructor

Body

Body()

Body(double mass, const Mat<3, 3> &inertia, const Vec<3> &comPos)

Parameters

Parameter	Description
mass (in)	mass [kg]
inertia (in)	inertia about the COM in the body frame [kg m^2]
comPos (in)	COM position in the body frame [m]

Public member functions

setMass

void setMass(double mass)

Parameters

Parameter	Description
mass (in)	mass [kg]

getMass

double &getMass()

Returns reference to the mass [kg]

const double &getMass() const

Returns mass [kg]

setInertia

void setInertia(std::initializer_list<double> inertia)

Parameters

Parameter	Description
inertia (in)	symmetric inertia about the COM as {ixx, ixy, ixz, iyy, iyz, izz} [kg m^2]

void setInertia(const Vec<3> &inertia)

Parameters

Parameter	Description
inertia (in)	diagonal inertia about the COM {ixx, iyy, izz} [kg m^2]

void setInertia(const Vec<6> &inertia)

Parameters

Parameter	Description
inertia (in)	symmetric inertia about the COM as {ixx, ixy, ixz, iyy, iyz, izz} [kg m^2]

setInertiaMjcfOrder

void setInertiaMjcfOrder(const Vec<6> &inertia)

Parameters

Parameter	Description
inertia (in)	symmetric inertia about the COM in MJCF order {ixx, iyy, izz, ixy, ixz, iyz} [kg m^2]

setZeroInertial

void setZeroInertial()

Set the mass, inertia and COM to zero.

getInertia

Mat<3, 3> &getInertia()

Returns reference to the inertia about the COM in the body frame [kg m^2]

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

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

setCom

void setCom(const Vec<3> &com)

Parameters

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

getCom

Vec<3> &getCom()

Returns reference to the COM position in the body frame [m]

const Vec<3> &getCom() const

Returns COM position in the body frame [m]

clearColAndVis

void clearColAndVis()

Remove all collision and visual objects.

addCollisionObject

void addCollisionObject(
    Shape::Type shape,
    const Vec<4> &param,
    const raisim::Vec<3> &origin,
    const raisim::Mat<3, 3> &rot,
    const raisim::Vec<3> &scale,
    const std::string &colName,
    const std::string &materialName,
    const std::string &collisionVisualizedMaterial,
    const std::string &meshFileName,
    CollisionGroup group=CollisionGroup(-1),
    CollisionGroup mask=CollisionGroup(-1))

Add a collision object to this body.

addVisualObject

void addVisualObject(
    Shape::Type shape,
    const Vec<4> &shapeParam,
    const raisim::Vec<3> &origin,
    const raisim::Mat<3, 3> &rotMat,
    const raisim::Vec<4> &color,
    const raisim::Vec<3> &scale,
    const std::string &meshFileNames,
    const std::string &visName,
    const std::string &material)

Add a visual object to this body.

Parameters

Parameter	Description
shape (in)	geometry type
shapeParam (in)	shape parameters (see VisObject)
origin (in)	position in the body frame [m]
rotMat (in)	orientation relative to the body frame
color (in)	RGBA color
scale (in)	mesh scale
meshFileNames (in)	mesh file path (for mesh shapes)
visName (in)	visual object name
material (in)	visual material name

Public attributes

colObj

std::vector<CollisionBody> colObj

Collision geometries associated with this body.

visObj

std::vector<VisObject> visObj

Visual geometries associated with this body.

mass_

double mass_

Body mass in kilograms.

inertia_

Mat<3, 3> inertia_

Body inertia matrix about the COM in body frame.

com_

Vec<3> com_

Center of mass in body frame.

sensorSet

std::vector<SensorSet *> sensorSet

Sensor sets attached to this body.