raisim::Constraints

class · #include <raisim/constraints/Constraints.hpp>

Derived by: raisim::LengthConstraint

Base class of world-level constraints (see LengthConstraint). Holds the name, visualization color and a mutex.

Constructors & destructor

Constraints

Constraints()

~Constraints

virtual ~Constraints() = default

Public member functions

getColor

const Vec<4> &getColor() const

Returns RGBA color used by the visualizer.

setColor

void setColor(const Vec<4> &color)

Set the RGBA color used by the visualizer.

Parameters

Parameter	Description
color (in)	RGBA color.

lockMutex

void lockMutex()

locks the constraint mutex. This can be used if you use raisim in a multi-threaded environment.

lock

void lock()

Same as lockMutex(); lets std::lock_guard / std::unique_lock be used with a constraint.

try_lock

bool try_lock()

Try to lock the mutex without blocking.

Returns true if the lock was acquired.

unlockMutex

void unlockMutex()

unlocks the constraint mutex. This can be used if you use raisim in a multi-threaded environment.

unlock

void unlock()

Same as unlockMutex().