raisim::Ground

class · #include <raisim/object/terrain/Ground.hpp>

Inherits: raisim::SingleBodyObject

A static infinite ground plane (half-space) with normal +z. Create it with World::addGround().

Constructors & destructor

Ground

Ground(double height)

Parameters

Parameter	Description
height (in)	z coordinate of the plane in the world frame (m)

Public member functions

getHeight

double getHeight() const

returns the height of the plane

Returns the z coordinate of the plane in the world frame (m)

setPosition

void setPosition(const Eigen::Ref<const Eigen::Vector3d, Eigen::Unaligned> &originPosition) override

Move the plane; only the z component matters (it becomes the new height).

Parameters

Parameter	Description
originPosition (in)	new origin (m)

void setPosition(double x, double y, double z) override

Move the plane; only z matters (it becomes the new height).

Parameters

Parameter	Description
x (in)	ignored for collision
y (in)	ignored for collision
z (in)	new height (m)

updateContactAabbs

void updateContactAabbs() override

Internal: recomputes the world-frame AABBs used by the broadphase.

Inherited members

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setBodyType, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setVelocity, updateCollision

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex