Bodies and Origin
Body
and Origin
ConstrainedDynamics.Body
— Typemutable struct Body{T} <: ConstrainedDynamics.AbstractBody{T}
A Body
is a component of a Mechanism
.
Important attributes
id
: The unique ID of a body. Assigned when added to aMechanism
.name
: The name of a body. The name is taken from a URDF or can be assigned by the user.m
: The mass of a body.J
: The inertia of a body.state
: The state of a body. Contains all position and velocity information (seeState
).shape
: The visualization shape of a body (seeShape
).
Constructors
Body(m, J; name, shape)
Mesh(path, m, J; scale, kwargs...)
Box(x, y, z, m; kwargs...)
Cylinder(r, h, m; kwargs...)
Sphere(r, m; kwargs...)
Pyramid(w, h, m; kwargs...)
ConstrainedDynamics.Origin
— Typemutable struct Origin{T} <: ConstrainedDynamics.AbstractBody{T}
The Origin
is the root of a Mechanism
.
Important attributes
id
: The unique ID of the origin. Assigned when added to aMechanism
.name
: The name of the origin. The name is taken from a URDF or can be assigned by the user.shape
: The visualization shape of the origin (seeShape
).
Constructors
Origin(; name, shape)
Origin{Type}(; name, shape)
Origin(body)
State
ConstrainedDynamics.State
— Typemutable struct State{T}
The State
contains the position and velocity information of a Body
.
Important attributes
xc
: Continuous-time position (vector)qc
: Continuous-time oritentation (quaternion)vc
: Continuous-time velocity (vector)ωc
: Continuous-time angular velocity (vector)xk
: Knot-point positions (vector of vectors)qk
: Knot-point orientations (vector of vectors)
Shape
ConstrainedDynamics.Shape
— Typeabstract type Shape{T}
A Shape
is used for visualization of a Body
. All Shape
s have an xoffset
and a qoffset
parameter to specify the position and orientation offset between the actual Body
and the visualized Shape
.
Important attributes
xoffset
: The relative position offset (vector) betweenBody
andShape
.qoffset
: The relative orientation offset (quaternion) betweenBody
andShape
.color
: The color of theShape
.
ConstrainedDynamics.Mesh
— Typemutable struct Mesh{T} <: ConstrainedDynamics.Shape{T}
A Mesh
can be used to visualize arbitrary geometries.
Important attributes
path
: The path to the geometry file.
ConstrainedDynamics.Box
— Typemutable struct Box{T} <: ConstrainedDynamics.Shape{T}
A Box
.
Important attributes
xyz
: The box size in x, y, and z direction (vector).
ConstrainedDynamics.Cylinder
— Typemutable struct Cylinder{T} <: ConstrainedDynamics.Shape{T}
A Cylinder
along the z-axis.
Important attributes
rh
: The cylinder radius and height (vector).
ConstrainedDynamics.Sphere
— Typemutable struct Sphere{T} <: ConstrainedDynamics.Shape{T}
A Sphere
.
Important attributes
r
: The sphere radius.
ConstrainedDynamics.Pyramid
— Typemutable struct Pyramid{T} <: ConstrainedDynamics.Shape{T}
A square Pyramid
with a base in the x-y-plane.
wh
: The pyramid width and height (vector).