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RigidBodyGeometry Class Reference
Inheritance diagram for RigidBodyGeometry:
Collaboration diagram for RigidBodyGeometry:

Public Member Functions

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...
 

Static Public Member Functions

static function parseURDFNode (node, x0, rpy, model, robotnum, options)
 
static function parseSDFNode (node, x0, rpy, model, robotnum, options)
 

Public Attributes

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...
 

Constructor & Destructor Documentation

function RigidBodyGeometry ( drake_shape_id  ,
varargin   
)

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

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

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

Parameters
drake_shape_id- Integer that tells the DrakeCollision library what type of geometry this is.
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 draw ( obj  ,
model  ,
kinsol  ,
body_ind   
)

intentionally left blank, can be overloaded

Return values
h
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)

Return values
x
y
z
c
function getTerrainContactPoints ( obj  )

pts = getTerrainContactPoints(obj) returns the terrain contact points on this object (in body-frame).

This default implementation returns an empty array, indicating that the object has no terrain contact points.

Each sub-class of RigidBodyGeometry is responsible for overriding this method if the geometry it defines has points which should be considered terrain contact points.

What are terrain contact points? Presently, DrakeCollision, our C++ collision detection library (powered by Bullet), only handles collisions with terrain for the case of flat terrain. For other terrain types (or for all terrain types on systems without Bullet) we look at the interaction between the terrain and specific set of points on the manipulator. These are refered to as "terrain contact points". The terrain contact points are the only ones that can collide with the terrain during simulation.

Parameters
obj- RigidBodyGeometry object
Return values
pts- 3xm array of points on this geometry (in body frame) that can collide with the world.

See also RigidBodySphere/getTerrainContactPoints, RigidBodyBox/getTerrainContactPoints

static function parseSDFNode ( node  ,
x0  ,
rpy  ,
model  ,
robotnum  ,
options   
)
static
Return values
obj
static function parseURDFNode ( node  ,
x0  ,
rpy  ,
model  ,
robotnum  ,
options   
)
static
Return values
obj
function setColor ( obj  ,
color   
)

Sets the color of the geometry for drawing.

Parameters
color3x1 color rgb array (defaults to [.7 .7 .7]
Return values
objupdated object

Member Data Documentation

Property c

look like: [ R x ] [ zeros(1,3) 1 ]

where R is a 3x3 rotation matrix and x is a 3x1 vector denoting position

if, for example, you want to set the position, you would do obstacle1 = RigidBodyCylinder(1, 10); obstacle1.T(1:3, 4) = [ 10; 0; 0 ]; 3x1 color

Property drake_shape_id

UNKNOWN.

Property name
Property T

coordinate transform (from geometry to link coordinates)


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