raisim::Child

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

Node of a kinematic tree (a body plus the joint connecting it to its parent), used to build an ArticulatedSystem programmatically.

Constructors & destructor

Child

Child(const Body &body, const Joint &joint, const std::string &name)

Parameters

Parameter	Description
body (in)	body of this node
joint (in)	joint connecting this node to its parent
name (in)	node (body) name

Child()

Public member functions

numberOfBodiesFromHere

size_t numberOfBodiesFromHere()

Returns number of movable bodies in this subtree, including this node (fixed children are not counted)

numberOfDOFFromHere

size_t numberOfDOFFromHere()

Returns generalized velocity dimension of this subtree

numberOfGCFromHere

size_t numberOfGCFromHere()

Returns generalized coordinate dimension of this subtree

jointIdx

size_t jointIdx(std::string &nm, std::vector<std::string> &jointsNames)

Parameters

Parameter	Description
nm (in)	joint name
jointsNames (in)	joint names

Returns index of nm in jointsNames, or size_t(-1) if not found

initCollisionBodies

void initCollisionBodies(
    CollisionSet &collect,
    std::vector<VisObject> &visCollect,
    std::vector<std::vector<float>> &meshVert,
    std::vector<std::vector<std::uint32_t>> &meshIdx,
    const std::string &resDir,
    bool convexifyMeshes)

Internal: create the collision bodies (and their visuals) of this subtree.

Parameters

Parameter	Description
collect (out)	collision bodies
visCollect (out)	collision visuals
meshVert (out)	mesh vertices
meshIdx (out)	mesh indices
resDir (in)	resource directory for relative mesh paths
convexifyMeshes (in)	convexify mesh collision bodies

initVisuals

void initVisuals(std::vector<VisObject> &collect)

Internal: collect the visual objects of this subtree.

Parameters

Parameter	Description
collect (out)	visual objects

consumeFixedBodies

void consumeFixedBodies(std::vector<CoordinateFrame> &frameOfInterest)

Internal: merge fixed children into their movable parent and record their frames.

Parameters

Parameter	Description
frameOfInterest (out)	coordinate frames

processJointRef

void processJointRef()

Internal: apply Joint::jointRef offsets in this subtree.

changeParent

void changeParent(Child &ch, Child &gch)

Internal: re-express grandchild gch's joint in the frame of ch's parent.

Parameters

Parameter	Description
ch (in)	child
gch (in, out)	grandchild

addChild

void addChild(const Child &childNode)

Add a child node. FIXED children go to fixedBodies (merged into this body when the system is built), other joints go to child. A FLOATING child is fatal.

Parameters

Parameter	Description
childNode (in)	child node (copied)

Public attributes

body

Body body

Body definition for this node.

joint

Joint joint

Joint connecting this node to its parent.

name

std::string name

Node name (usually the child body name).

child

std::vector<Child> child

Movable child nodes.

fixedBodies

std::vector<Child> fixedBodies

Fixed child nodes.