Single-Body Objects¶
SingleBodyObject API (Parent class)¶
-
class
raisim::SingleBodyObject: public raisim::Object¶ this class is only for inheritance
Subclassed by raisim::Box, raisim::Capsule, raisim::Compound, raisim::Cone, raisim::Cylinder, raisim::Ground, raisim::HeightMap, raisim::Mesh, raisim::Sphere
Public Functions
-
Eigen::Vector4d
getQuaternion() const¶ returns the quaternion in Eigen::Vector4d
- Return
the orientation of the object
-
void
getQuaternion(Vec<4> &quat) const¶ returns the quaternion in raisim::Vec<4>
- Parameters
[out] quat: the orientation of the object
-
Eigen::Matrix3d
getRotationMatrix() const¶ returns the rotation matrix in Eigen::Matrix3d
- Return
the orientation of the object
-
void
getRotationMatrix(Mat<3, 3> &rotation) const¶ returns the quaternion in raisim::Mat<3,3>
- Parameters
[out] rotation: the orientation of the object
-
Eigen::Vector3d
getPosition() const¶ returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position
- Return
the position of the object
-
Eigen::Vector3d
getComPosition() const¶ returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position
- Return
the position of the object
-
const raisim::Vec<3> &
getComPosition_rs() const¶ returns the body position in raisim::Vec<3>. Currently, all body positions are the same as the COM position
- Return
the position of the object
-
const raisim::Vec<3> &
getBodyToComPosition_rs() const¶ returns the body position in raisim::Vec<3>. Currently, all body positions are the same as the COM position
- Return
the position of the object
-
Eigen::Vector3d
getLinearVelocity() const¶ returns the linear velocity
- Return
the linear velocity of the object
-
void
getLinearVelocity(Vec<3> &linVel)¶ returns the linear velocity
- Parameters
[out] linVel: the linear velocity of the object
-
Eigen::Vector3d
getAngularVelocity() const¶ returns the angular velocity
- Return
the angular velocity of the object
-
void
getAngularVelocity(Vec<3> &angVel)¶ returns the angular velocity
- Parameters
[out] angVel: the angular velocity of the object
-
double
getKineticEnergy() const¶ returns the kinetic energy
- Return
the kinetic energy of the object
-
double
getPotentialEnergy(const Vec<3> &gravity) const¶ returns the potential energy w.r.t. z=0 and the given gravitational acceleration param[in] gravity gravitational acceleration
- Return
the potential energy of the object
-
double
getEnergy(const Vec<3> &gravity) const¶ equivalent to getKineticEnergy() + getPotentialEnergy(gravity) param[in] gravity gravitational acceleration
- Return
the sum of the potential and gravitational energy of the object
-
Eigen::Vector3d
getLinearMomentum() const¶ returns the linear momentum of the object
- Return
the linear momentum of the object
-
double
getMass(size_t localIdx = 0) const override¶ returns the mass of the object. The localIdx is unused
- Return
the linear momentum of the object
-
void
setMass(double mass)¶ set the mass of the object.
- Parameters
[in] mass: set the mass of the object
-
Eigen::Matrix3d
getInertiaMatrix_B() const¶ get the inertia matrix in the body frame. This value is constant.
- Return
the inertia matrix in the body frame
-
Eigen::Matrix3d
getInertiaMatrix_W() const¶ get the inertia matrix in the world frame. This value changes as the body rotates.
- Return
the inertia matrix in the world frame
-
const raisim::Mat<3, 3> &
getInertiaMatrix_B_rs() const¶ get the inertia matrix in the body frame (raisim matrix type). This value is constant.
- Return
the inertia matrix in the body frame
-
const raisim::Mat<3, 3> &
getInertiaMatrix_W_rs() const¶ get the inertia matrix in the world frame (raisim matrix type). This value changes as the body rotates.
- Return
the inertia matrix in the world frame
-
ObjectType
getObjectType() const final¶ get the object type. Possible types are SPHERE, BOX, CYLINDER, CONE, CAPSULE, MESH, HALFSPACE, COMPOUND, HEIGHTMAP, ARTICULATED_SYSTEM
- Return
the object type
-
void
setExternalForce(size_t localIdx, const Vec<3> &force) final¶ apply forces at the Center of Mass
-
void
setExternalTorque(size_t localIdx, const Vec<3> &torque) final¶ apply torque on a body
-
void
setExternalForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final¶ apply force (expressed in the world frame) at specific location of the body (expressed in the body frame)
-
void
setConstraintForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final¶ apply spring force (expressed in the world frame) at specific location of the body (expressed in the body frame)
-
void
getContactPointVel(size_t pointId, Vec<3> &vel) const final¶ get the contact point velocity in the world frame.
- Parameters
[in] pointId: the contact index. This is an index of a contact in the contact vector that you can retrieve from getContacts().[out] vel: the contact point velocity in the world frame
-
Eigen::Vector4d
Sphere API¶
-
class
raisim::Sphere: public raisim::SingleBodyObject¶
Box API¶
-
class
raisim::Box: public raisim::SingleBodyObject¶
Capsule API¶
-
class
raisim::Capsule: public raisim::SingleBodyObject¶
Cylinder API¶
-
class
raisim::Cylinder: public raisim::SingleBodyObject¶
Ground API¶
-
class
raisim::Ground: public raisim::SingleBodyObject¶ Public Functions
-
double
getHeight()¶ returns the height of the plane
- Return
the height
-
double