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RigidBodyBox Class Reference
Inheritance diagram for RigidBodyBox:
Collaboration diagram for RigidBodyBox:

Public Member Functions

function RigidBodyBox (size, varargin)
 obj = RigidBodyBox(size) constructs a RigidBodyBox object with the geometry-to-body transform set to identity. More...
 
function getPoints (obj)
 
function getBoundingBoxPoints (obj)
 
function getTerrainContactPoints (obj)
 pts = getTerrainContactPoints(obj) returns the terrain contact points of this geometry. More...
 
function serializeToLCM (obj)
 
function writeWRLShape (obj, fp, td)
 
- Public Member Functions inherited from RigidBodyGeometry
function RigidBodyGeometry (drake_shape_id, varargin)
 obj = RigidBodyGeometry(drake_shape_id) constructs a RigidBodyGeometry object with the geometry-to-body transform set to identity. More...
 
function getPatchData (obj, x_axis, y_axis, view_axis)
 output is compatible with patch for 2D viewing still returns a 3xn, but the z-axis is constant (just meant for depth ordering in the 2d figure) More...
 
function getTerrainContactPoints (obj)
 pts = getTerrainContactPoints(obj) returns the terrain contact points on this object (in body-frame). More...
 
function setColor (obj, color)
 Sets the color of the geometry for drawing. More...
 
function draw (obj, model, kinsol, body_ind)
 intentionally left blank, can be overloaded More...
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Public Attributes

Property size
 
- Public Attributes inherited from RigidBodyGeometry
Property T
 coordinate transform (from geometry to link coordinates) More...
 
Property c
 look like: [ R x ] [ zeros(1,3) 1 ] More...
 
Property drake_shape_id
 UNKNOWN. More...
 
Property name
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Additional Inherited Members

- Static Public Member Functions inherited from RigidBodyGeometry
static function parseURDFNode (node, x0, rpy, model, robotnum, options)
 
static function parseSDFNode (node, x0, rpy, model, robotnum, options)
 

Constructor & Destructor Documentation

function RigidBodyBox ( size  ,
varargin   
)

obj = RigidBodyBox(size) constructs a RigidBodyBox object with the geometry-to-body transform set to identity.

obj = RigidBodyBox(size,T) constructs a RigidBodyBox object with the geometry-to-body transform T.

obj = RigidBodyBox(size,xyz,rpy) constructs a RigidBodyBox object with the geometry-to-body transform specified by the position, xyz, and Euler angles, rpy.

Parameters
size- 3-element vector containing the box dimensions.
T- 4x4 homogenous transform from geometry-frame to body-frame
xyz- 3-element vector specifying the position of the geometry in the body-frame
rpy- 3-element vector of Euler angles specifying the orientation of the geometry in the body-frame
Return values
obj

Member Function Documentation

function getBoundingBoxPoints ( obj  )
Return values
pts
function getPoints ( obj  )
Return values
pts
function getTerrainContactPoints ( obj  )

pts = getTerrainContactPoints(obj) returns the terrain contact points of this geometry.

The terrain contact points for a box are its corners.

For a general description of terrain contact points see RigidBodyGeometry/getTerrainContactPoints

Parameters
obj- RigidBodySphere object
Return values
pts- 3xm array of points on this geometry (in link frame) that can collide with the world.
function serializeToLCM ( obj  )
Return values
geometry
function writeWRLShape ( obj  ,
fp  ,
td   
)

Member Data Documentation

Property size

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