raisin::tcp_viewer::SelectedObjectInfo

struct · #include <rayrai/TcpRemoteSceneState.hpp>

Details about a selected object from the remote scene.

Public attributes

tag

uint32_t tag

Requested selection tag.

valid

bool valid

The server returned data for the selection.

isArticulated

bool isArticulated

Joint/state fields below are filled only for articulated systems.

gcDim

int32_t gcDim

Generalized-coordinate dimension.

dof

int32_t dof

Degrees of freedom (generalized-velocity dimension).

generalizedCoordinates

std::vector<float> generalizedCoordinates

gcDim values.

generalizedVelocities

std::vector<float> generalizedVelocities

dof values.

jointNames

std::vector<std::string> jointNames

One per movable joint.

jointAngles

std::vector<float> jointAngles

First generalized coordinate of each movable joint.

jointTypes

std::vector<int32_t> jointTypes

raisim::Joint::Type value of each movable joint.

jointGcOffsets

std::vector<int32_t> jointGcOffsets

Offset of each joint into generalizedCoordinates.

jointGcDims

std::vector<int32_t> jointGcDims

Generalized-coordinate count of each joint.

actuators

std::vector<SelectedActuatorInfo> actuators

Actuators; filled only when kProtocolFeatureActuatorState was negotiated.

motorRegionEnforced

bool motorRegionEnforced

Motor torques are clipped to their operating regions.