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

inline Eigen::Vector4d getQuaternion() const¶

returns the quaternion in Eigen::Vector4d

Returns: the orientation of the object

inline void getQuaternion(Vec<4> &quat) const¶

returns the quaternion in raisim::Vec<4>

Parameters: quat – [out] the orientation of the object

inline Eigen::Matrix3d getRotationMatrix() const¶

returns the rotation matrix in Eigen::Matrix3d

Returns: the orientation of the object

inline void getRotationMatrix(Mat<3, 3> &rotation) const¶

returns the quaternion in raisim::Mat<3,3>

Parameters: rotation – [out] the orientation of the object

inline Eigen::Vector3d getPosition() const¶

returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position

Returns: the position of the object

inline Eigen::Vector3d getComPosition() const¶

returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position

Returns: the position of the object

inline 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

Returns: the position of the object

inline 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

Returns: the position of the object

inline Eigen::Vector3d getLinearVelocity() const¶

returns the linear velocity

Returns: the linear velocity of the object

inline void getLinearVelocity(Vec<3> &linVel)¶

returns the linear velocity

Parameters: linVel – [out] the linear velocity of the object

inline Eigen::Vector3d getAngularVelocity() const¶

returns the angular velocity

Returns: the angular velocity of the object

inline void getAngularVelocity(Vec<3> &angVel)¶

returns the angular velocity

Parameters: angVel – [out] the angular velocity of the object

double getKineticEnergy() const¶

returns the kinetic energy

Returns: 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

Returns: the potential energy of the object

double getEnergy(const Vec<3> &gravity) const¶

equivalent to getKineticEnergy() + getPotentialEnergy(gravity) param[in] gravity gravitational acceleration

Returns: the sum of the potential and gravitational energy of the object

Eigen::Vector3d getLinearMomentum() const¶

returns the linear momentum of the object

Returns: the linear momentum of the object

virtual double getMass(size_t localIdx = 0) const override¶

returns the mass of the object. The localIdx is unused

Returns: the linear momentum of the object

inline void setMass(double mass)¶

set the mass of the object.

Parameters: mass – [in] set the mass of the object

inline Eigen::Matrix3d getInertiaMatrix_B() const¶

get the inertia matrix in the body frame. This value is constant.

Returns: the inertia matrix in the body frame

inline Eigen::Matrix3d getInertiaMatrix_W() const¶

get the inertia matrix in the world frame. This value changes as the body rotates.

Returns: the inertia matrix in the world frame

inline const raisim::Mat<3, 3> &getInertiaMatrix_B_rs() const¶

get the inertia matrix in the body frame (raisim matrix type). This value is constant.

Returns: the inertia matrix in the body frame

inline 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.

Returns: the inertia matrix in the world frame

virtual ObjectType getObjectType() const final¶

get the object type. Possible types are SPHERE, BOX, CYLINDER, CONE, CAPSULE, MESH, HALFSPACE, COMPOUND, HEIGHTMAP, ARTICULATED_SYSTEM

Returns: the object type

virtual void setExternalForce(size_t localIdx, const Vec<3> &force) final¶: apply forces at the Center of Mass

virtual void setExternalTorque(size_t localIdx, const Vec<3> &torque) final¶: apply torque on a body

virtual 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)

virtual 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)

virtual void getContactPointVel(size_t pointId, Vec<3> &vel) const final¶

get the contact point velocity in the world frame.

Parameters

pointId – [in] the contact index. This is an index of a contact in the contact vector that you can retrieve from getContacts().
vel – [out] the contact point velocity in the world frame

Sphere API¶

class raisim::Sphere : public raisim::SingleBodyObject ¶

Public Functions

explicit Sphere(double radius, double mass)¶: NOTE body frame origin of Sphere is C.O.M of Sphere

double getRadius() const¶

returns the radius of the sphere

Returns: the radius of the sphere

Box API¶

class raisim::Box : public raisim::SingleBodyObject ¶

Public Functions

Box(double xLength, double yLength, double zLength, double mass)¶: NOTE body origin of Box is C.O.M of Box

inline Vec<3> getDim()¶

returns the dimension of the box

Returns: the box of the box

Capsule API¶

class raisim::Capsule : public raisim::SingleBodyObject ¶

Public Functions

Capsule(double radius, double height, double mass)¶: NOTE body origin of Capsule is C.O.M of Capsule

double getRadius() const¶

returns the radius of the capsule

Returns: the radius of the capsule

double getHeight() const¶

returns the height of the capsule

Returns: the height of the capsule

Cylinder API¶

class raisim::Cylinder : public raisim::SingleBodyObject ¶

Public Functions

Cylinder(double radius, double height, double mass)¶: NOTE body frame origin of Cylinder is C.O.M of Cylinder

double getRadius() const¶

returns the radius of the cylinder

Returns: the radius of the cylinder

double getHeight() const¶

returns the height of the cylinder

Returns: the height of the cylinder

Ground API¶

class raisim::Ground : public raisim::SingleBodyObject ¶

Public Functions

inline double getHeight()¶

returns the height of the plane

Returns: the height