#include <hpp/pinocchio/body.hh>

Public Member Functions
JointPtr_t	joint () const
	Get joint holding the body. 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
size_type	nbInnerObjects () const
	Number of inner objects. More...

CollisionObjectPtr_t	innerObjectAt (const size_type &i) const
	Access to an inner object. More...

value_type	radius () const

size_type	nbOuterObjects () const
	Number of outer objects. More...

CollisionObjectPtr_t	outerObjectAt (const size_type &i) const
	Access to an outer object. 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...

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.

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.

◆ innerObjectAt()

CollisionObjectPtr_t hpp::pinocchio::Body::innerObjectAt ( const size_type & i ) const

Access to an inner object.

◆ 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.

◆ nbInnerObjects()

size_type hpp::pinocchio::Body::nbInnerObjects ( ) const

Number of inner objects.

◆ nbOuterObjects()

size_type hpp::pinocchio::Body::nbOuterObjects ( ) const

Number of outer objects.

◆ outerObjectAt()

CollisionObjectPtr_t hpp::pinocchio::Body::outerObjectAt ( const size_type & i ) const

Access to an outer object.

◆ 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.

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

include/hpp/pinocchio/body.hh

Public Member Functions