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Drake
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Drake
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The set of parameters for configuring ContactVisualizer.
#include <drake/multibody/meshcat/contact_visualizer_params.h>
Public Member Functions | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Passes this object to an Archive. More... | |
Public Attributes | |
| double | publish_period {1 / 32.0} |
| The duration (in simulation seconds) between attempts to update poses in the visualizer. More... | |
| geometry::Rgba | color {0, 1, 0, 1} |
| The color used to draw the point contact force arrows. More... | |
| geometry::Rgba | hydro_force_color {1, 0, 0, 1} |
| The color used to draw the hydroelastic contact force arrows. More... | |
| geometry::Rgba | hydro_moment_color {0, 0, 1, 1} |
| The color used to draw the hydroelastic contact moment arrows. More... | |
| std::string | prefix {"contact_forces"} |
| A prefix to add to the path for all objects and transforms curated by the ContactVisualizer. More... | |
| bool | delete_on_initialization_event {true} |
| Determines whether to send a Meshcat::Delete(prefix) message on an initialization event to remove any visualizations e.g. More... | |
| double | force_threshold {0.01} |
| The threshold (in N) below which forces will no longer be drawn. More... | |
| double | moment_threshold {0.01} |
| The threshold (in N⋅m) below which moments will no longer be drawn. More... | |
| double | newtons_per_meter {10} |
| Sets the length scale of the force vectors. More... | |
| double | newton_meters_per_meter {3} |
| Sets the length scale of the moment vectors. More... | |
| double | radius {0.002} |
| The radius of cylinder geometry used in the force/moment vector. More... | |
| void Serialize | ( | Archive * | a | ) |
Passes this object to an Archive.
Refer to YAML Serialization for background.
| geometry::Rgba color {0, 1, 0, 1} |
The color used to draw the point contact force arrows.
| bool delete_on_initialization_event {true} |
Determines whether to send a Meshcat::Delete(prefix) message on an initialization event to remove any visualizations e.g.
from a previous simulation. See Declare initializationevents" for more information.
| double force_threshold {0.01} |
The threshold (in N) below which forces will no longer be drawn.
The ContactVisualizer constructor enforces that this must be strictly positive; zero forces do not have a meaningful direction and cannot be visualized.
| geometry::Rgba hydro_force_color {1, 0, 0, 1} |
The color used to draw the hydroelastic contact force arrows.
| geometry::Rgba hydro_moment_color {0, 0, 1, 1} |
The color used to draw the hydroelastic contact moment arrows.
| double moment_threshold {0.01} |
The threshold (in N⋅m) below which moments will no longer be drawn.
The ContactVisualizer constructor enforces that this must be strictly positive; zero moments do not have a meaningful direction and cannot be visualized.
| double newton_meters_per_meter {3} |
Sets the length scale of the moment vectors.
| double newtons_per_meter {10} |
Sets the length scale of the force vectors.
| std::string prefix {"contact_forces"} |
A prefix to add to the path for all objects and transforms curated by the ContactVisualizer.
It can be an absolute path or relative path. If relative, this prefix will be appended to the geometry::Meshcat prefix based on the standard path semantics in Meshcat. See Meshcat paths for details.
| double publish_period {1 / 32.0} |
The duration (in simulation seconds) between attempts to update poses in the visualizer.
(To help avoid small simulation time steps, we use a default period that has an exact representation in binary floating point; see drake#15021 for details.)
| double radius {0.002} |
The radius of cylinder geometry used in the force/moment vector.