candlewick::multibody Namespace Reference

Support for the Pinocchio rigid-body algorithms library and the Coal collision detection library. More...

Classes
struct	CameraControlParams
struct	PinFrameComponent
struct	PinFrameVelocityComponent
struct	PinGeomObjComponent
struct	RobotDebugSystem
	A debug system for use with Pinocchio geometries. More...
class	RobotScene
	A render system for Pinocchio robot geometries using Pinocchio. More...
class	Visualizer
	A Pinocchio robot visualizer. The display() function will perform the draw calls. More...

Typedefs
using	SE3f = pin::SE3Tpl<float>
using	Motionf = pin::MotionTpl<float>
using	Inertiaf = pin::InertiaTpl<float>
using	Forcef = pin::ForceTpl<float>

Functions
void	loadGeometryObject (const pin::GeometryObject &gobj, std::vector< MeshData > &meshData)
	Load an invidual Pinocchio GeometryObject's component geometries into an array of MeshData.
std::vector< MeshData >	loadGeometryObject (const pin::GeometryObject &gobj)
void	guiAddPinocchioModelInfo (entt::registry &reg, const pin::Model &model, const pin::GeometryModel &geom_model, int table_height_lines=6)
	Display Pinocchio model and geometry model info in ImGui.
void	updateRobotTransforms (entt::registry &registry, const pin::GeometryModel &geom_model, const pin::GeometryData &geom_data)
	A system for updating the transform components for robot geometry entities.
void	guiAddCameraParams (CylindricalCamera &controller, CameraControlParams &params)

Detailed Description

Support for the Pinocchio rigid-body algorithms library and the Coal collision detection library.

Loaders for assets defined through Pinocchio, Coal collision geometries, classes for creating a Scene for robots from Pinocchio models, etc.

Typedef Documentation

Forcef

using candlewick::multibody::Forcef = pin::ForceTpl<float>

Inertiaf

using candlewick::multibody::Inertiaf = pin::InertiaTpl<float>

Motionf

using candlewick::multibody::Motionf = pin::MotionTpl<float>

SE3f

using candlewick::multibody::SE3f = pin::SE3Tpl<float>

Function Documentation

guiAddCameraParams()

void candlewick::multibody::guiAddCameraParams	(	CylindricalCamera &	controller,
		CameraControlParams &	params )

loadGeometryObject() [1/2]

std::vector< MeshData > candlewick::multibody::loadGeometryObject ( const pin::GeometryObject & gobj )

inline

loadGeometryObject() [2/2]

void candlewick::multibody::loadGeometryObject	(	const pin::GeometryObject &	gobj,
		std::vector< MeshData > &	meshData )

Load an invidual Pinocchio GeometryObject's component geometries into an array of MeshData.

updateRobotTransforms()

void candlewick::multibody::updateRobotTransforms	(	entt::registry &	registry,
		const pin::GeometryModel &	geom_model,
		const pin::GeometryData &	geom_data )

A system for updating the transform components for robot geometry entities.

This will also update the mesh materials.

Reads PinGeomObjComponent, updates TransformComponent.