Public Types | Public Member Functions | List of all members
hpp::pinocchio::Body Class Reference

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_touterObjects () 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_tinnerObjects () 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_tlocalCenterOfMass () const
 
matrix3_t inertiaMatrix () const
 Get Intertia matrix expressed in joint local reference frame. More...
 
value_type mass () const
 Get mass. More...
 

Detailed Description

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.

Member Typedef Documentation

◆ FrameIndex

typedef se3::FrameIndex hpp::pinocchio::Body::FrameIndex

◆ JointIndex

typedef se3::JointIndex hpp::pinocchio::Body::JointIndex

Constructor & Destructor Documentation

◆ Body()

hpp::pinocchio::Body::Body ( DeviceWkPtr_t  device,
JointIndex  joint 
)

◆ ~Body()

virtual hpp::pinocchio::Body::~Body ( )
inlinevirtual

Member Function Documentation

◆ inertiaMatrix()

matrix3_t hpp::pinocchio::Body::inertiaMatrix ( ) const

Get Intertia matrix expressed in joint local reference frame.

◆ innerObjects()

const ObjectVector_t& hpp::pinocchio::Body::innerObjects ( ) const
inline

Access to inner objects.

Parameters
typeCollision or distance

◆ joint()

JointPtr_t hpp::pinocchio::Body::joint ( ) const

Get joint holding the body.

◆ localCenterOfMass()

const vector3_t& hpp::pinocchio::Body::localCenterOfMass ( ) const

◆ mass()

value_type hpp::pinocchio::Body::mass ( ) const

Get mass.

◆ name()

const std::string& hpp::pinocchio::Body::name ( ) const

Get name.

◆ outerObjects()

const ObjectVector_t& hpp::pinocchio::Body::outerObjects ( ) const
inline

Access to outer objects.

Parameters
typeCollision or distance

◆ radius()

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.