raisim::CoordinateFrame

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

A coordinate frame of an articulated system, defined at every joint (including fixed joints) and at sensors. The pose is stored relative to the body it is rigidly attached to (parentId); use ArticulatedSystem::getFramePosition()/getFrameOrientation() for world-frame values.

Public attributes

orientation

Mat<3, 3> orientation

Orientation of the frame relative to the frame of body parentId (identity for movable joints).

position

Vec<3> position

Position of the frame expressed in the frame of body parentId [m] (zero for movable joints).

parentId

size_t parentId

Index of the body the frame is attached to. For a movable joint, this is the body the joint moves (its child).

currentBodyId

size_t currentBodyId

Internal, unused by RaiSim: the XML sensor loader and raisim_engine2 set it, URDF and MJCF frames leave it 0; use parentId.

name

std::string name

Name of the joint associated with this frame (or the sensor name for sensor frames).

parentName

std::string parentName

Name of the body the frame is attached to (see parentId).

bodyName

std::string bodyName

Name of the URDF link attached to the joint (empty for sensor frames).

isChild

bool isChild

True for the frames of movable joints and the root joint.

jointType

Joint::Type jointType

Joint type associated with this frame.