RcsPySim
A robot control and simulation library
Public Types | Public Member Functions | Public Attributes | List of all members
Rcs::BodyParamInfo Struct Reference

#include <BodyParamInfo.h>

Public Types

enum  ModifiedFlag {
  MOD_MASS = 1 << 0, MOD_COM = 1 << 1, MOD_INERTIA = 1 << 2, MOD_SHAPE = 1 << 3,
  MOD_POSITION = 1 << 4, MOD_ORIENTATION = 1 << 5
}
 

Public Member Functions

 BodyParamInfo (RcsGraph *graph, const char *bodyName, PhysicsConfig *physicsConfig)
 
void resetChanged ()
 
bool isChanged (int flag)
 
void markChanged (int flag)
 

Public Attributes

RcsGraph * graph
 
RcsBody * body
 
std::string paramNamePrefix
 
PhysicsMaterial material
 
int modifiedFlag
 

Detailed Description

Information on a body and changing physics params.

Apart from the body, this struct holds material parameters not storable in RcsBody, and flags to track modified parameters.

Definition at line 48 of file BodyParamInfo.h.

Member Enumeration Documentation

◆ ModifiedFlag

enum Rcs::BodyParamInfo::ModifiedFlag
Enumerator
MOD_MASS 
MOD_COM 
MOD_INERTIA 
MOD_SHAPE 
MOD_POSITION 
MOD_ORIENTATION 

Definition at line 50 of file BodyParamInfo.h.

Constructor & Destructor Documentation

◆ BodyParamInfo()

Rcs::BodyParamInfo::BodyParamInfo ( RcsGraph *  graph,
const char *  bodyName,
PhysicsConfig *  physicsConfig 
)

Definition at line 37 of file BodyParamInfo.cpp.

Member Function Documentation

◆ isChanged()

bool Rcs::BodyParamInfo::isChanged ( int  flag)
inline

Check if a parameter changed.

Definition at line 81 of file BodyParamInfo.h.

◆ markChanged()

void Rcs::BodyParamInfo::markChanged ( int  flag)
inline

Mark if a parameter as changed.

Definition at line 87 of file BodyParamInfo.h.

◆ resetChanged()

void Rcs::BodyParamInfo::resetChanged ( )

Reset all change flags.

Member Data Documentation

◆ body

RcsBody* Rcs::BodyParamInfo::body

The body.

Definition at line 64 of file BodyParamInfo.h.

◆ graph

RcsGraph* Rcs::BodyParamInfo::graph

The graph containing the body.

Definition at line 61 of file BodyParamInfo.h.

◆ material

PhysicsMaterial Rcs::BodyParamInfo::material

Material of the body's first shape.

Definition at line 70 of file BodyParamInfo.h.

◆ modifiedFlag

int Rcs::BodyParamInfo::modifiedFlag

Flags tracking the modified state of the body.

Definition at line 73 of file BodyParamInfo.h.

◆ paramNamePrefix

std::string Rcs::BodyParamInfo::paramNamePrefix

prefix for parameter names

Definition at line 67 of file BodyParamInfo.h.

The documentation for this struct was generated from the following files: