openrave.org

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Public Attributes | List of all members
OpenRAVE::KinBody::LinkInfo Class Reference

Describes the properties of a link used to initialize it. More...

#include <kinbody.h>

Inheritance diagram for OpenRAVE::KinBody::LinkInfo:
Inheritance graph
[legend]
Collaboration diagram for OpenRAVE::KinBody::LinkInfo:
Collaboration graph
[legend]

Public Member Functions

 LinkInfo ()
 
virtual ~LinkInfo ()
 
- Public Member Functions inherited from OpenRAVE::XMLReadable
 XMLReadable (const std::string &xmlid)
 
virtual ~XMLReadable ()
 
virtual const std::string & GetXMLId () const
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
- Public Member Functions inherited from OpenRAVE::UserData
virtual ~UserData ()
 

Public Attributes

std::vector< GeometryInfoPtr_vgeometryinfos
 
std::string _name
 unique link name
 
Transform _t
 
Transform _tMassFrame
 the frame for inertia and center of mass of the link in the link's coordinate system
 
dReal _mass
 mass of link
 
Vector _vinertiamoments
 inertia along the axes of _tMassFrame
 
std::map< std::string,
std::vector< dReal > > 
_mapFloatParameters
 custom key-value pairs that could not be fit in the current model
 
std::map< std::string,
std::vector< int > > 
_mapIntParameters
 
std::vector< std::string > _vForcedAdjacentLinks
 force the following links to be treated as adjacent to this link
 
bool _bStatic
 Indicates a static body that does not move with respect to the root link.
 
bool _bIsEnabled
 false if the link is disabled. disabled links do not participate in collision detection
 
bool __padding0
 
bool __padding1
 

Detailed Description

Describes the properties of a link used to initialize it.

Definition at line 151 of file kinbody.h.

Constructor & Destructor Documentation

OpenRAVE::KinBody::LinkInfo::LinkInfo ( )

Definition at line 22 of file kinbodylink.cpp.

virtual OpenRAVE::KinBody::LinkInfo::~LinkInfo ( )
inlinevirtual

Definition at line 155 of file kinbody.h.

Member Data Documentation

bool OpenRAVE::KinBody::LinkInfo::__padding0

Definition at line 180 of file kinbody.h.

bool OpenRAVE::KinBody::LinkInfo::__padding1

Definition at line 180 of file kinbody.h.

bool OpenRAVE::KinBody::LinkInfo::_bIsEnabled

false if the link is disabled. disabled links do not participate in collision detection

Definition at line 179 of file kinbody.h.

bool OpenRAVE::KinBody::LinkInfo::_bStatic

Indicates a static body that does not move with respect to the root link.

Static should be used when an object has infinite mass and shouldn't be affected by physics (including gravity). Collision still works.

Definition at line 176 of file kinbody.h.

std::map<std::string, std::vector<dReal> > OpenRAVE::KinBody::LinkInfo::_mapFloatParameters

custom key-value pairs that could not be fit in the current model

Definition at line 168 of file kinbody.h.

std::map<std::string, std::vector<int> > OpenRAVE::KinBody::LinkInfo::_mapIntParameters

custom key-value pairs that could not be fit in the current model

Definition at line 169 of file kinbody.h.

dReal OpenRAVE::KinBody::LinkInfo::_mass

mass of link

Definition at line 165 of file kinbody.h.

std::string OpenRAVE::KinBody::LinkInfo::_name

unique link name

the current transformation of the link with respect to the body coordinate system

Definition at line 160 of file kinbody.h.

Transform OpenRAVE::KinBody::LinkInfo::_t

Definition at line 161 of file kinbody.h.

Transform OpenRAVE::KinBody::LinkInfo::_tMassFrame

the frame for inertia and center of mass of the link in the link's coordinate system

Definition at line 163 of file kinbody.h.

std::vector<std::string> OpenRAVE::KinBody::LinkInfo::_vForcedAdjacentLinks

force the following links to be treated as adjacent to this link

Definition at line 171 of file kinbody.h.

std::vector<GeometryInfoPtr> OpenRAVE::KinBody::LinkInfo::_vgeometryinfos

Definition at line 157 of file kinbody.h.

Vector OpenRAVE::KinBody::LinkInfo::_vinertiamoments

inertia along the axes of _tMassFrame

Definition at line 167 of file kinbody.h.


The documentation for this class was generated from the following files: