Geometry associated to a Joint. More...
#include <hpp/pinocchio/body.hh>
Public Types | |
typedef se3::JointIndex | JointIndex |
typedef se3::FrameIndex | FrameIndex |
Public Member Functions | |
JointPtr_t | joint () const |
Get joint holding the body. More... | |
const ObjectVector_t & | outerObjects () const |
Access to outer objects. More... | |
Construction and copy and destruction | |
Constructor | |
Body (DeviceWkPtr_t device, JointIndex joint) | |
virtual | ~Body () |
Name | |
const std::string & | name () const |
Get name. More... | |
Inner/outer objects | |
const ObjectVector_t & | innerObjects () const |
Access to inner objects. More... | |
value_type | radius () const |
Get radius. More... | |
Inertial information | |
Get position of center of mass in joint local reference frame. | |
const vector3_t & | localCenterOfMass () const |
matrix3_t | inertiaMatrix () const |
Get Intertia matrix expressed in joint local reference frame. More... | |
value_type | mass () const |
Get mass. More... | |
Geometry associated to a Joint.
A body is a geometry container attached to a joint. The body contains objects (CollisionObject) that move with the joint and called inner objects.
Collision and distance computation is performed against other objects that can be obstacles or objects attached to other joints. These object are called outer objects for the body.
typedef se3::FrameIndex hpp::pinocchio::Body::FrameIndex |
typedef se3::JointIndex hpp::pinocchio::Body::JointIndex |
hpp::pinocchio::Body::Body | ( | DeviceWkPtr_t | device, |
JointIndex | joint | ||
) |
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inlinevirtual |
matrix3_t hpp::pinocchio::Body::inertiaMatrix | ( | ) | const |
Get Intertia matrix expressed in joint local reference frame.
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inline |
Access to inner objects.
type | Collision or distance |
JointPtr_t hpp::pinocchio::Body::joint | ( | ) | const |
Get joint holding the body.
const vector3_t& hpp::pinocchio::Body::localCenterOfMass | ( | ) | const |
value_type hpp::pinocchio::Body::mass | ( | ) | const |
Get mass.
const std::string& hpp::pinocchio::Body::name | ( | ) | const |
Get name.
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inline |
Access to outer objects.
type | Collision or distance |
value_type hpp::pinocchio::Body::radius | ( | ) | const |
Get radius.
Radius is defined as an upper-bound to the distance of all points of the body to the origin of the joint that holds the body.