candlewick::multibody Namespace Reference

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

Namespaces
namespace	gui

Classes
struct	CameraControlParams
struct	ExternalForceComponent
	Display an external force using an arrow. This is a transient component which has its own lifetime. More...
struct	PinFrameComponent
struct	PinFrameVelocityComponent
struct	PinGeomObjComponent
struct	RobotDebugSystem
	A debug system for use with Pinocchio models and geometries. More...
class	RobotScene
	A render system for Pinocchio robot geometries using Pinocchio. More...
struct	RobotSpec
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)
	Load an invidual pinocchio::GeometryObject 's component geometries into an array of MeshData.
std::vector< std::string >	getPackageDirs (const RobotSpec &spec)
pin::Model &	loadModel (const RobotSpec &spec, pin::Model &model, bool verbose=false)
void	loadModels (const RobotSpec &spec, pin::Model &model, pin::GeometryModel *visual_model, pin::GeometryModel *collision_model, bool verbose=false)
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.

Copyright

Copyright (c) 2025 INRIA

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

getPackageDirs()

std::vector< std::string > candlewick::multibody::getPackageDirs ( const RobotSpec & spec )

inline

guiAddCameraParams()

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

loadGeometryObject() [1/2]

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

inline

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

Note

The mesh materials' base colors will be overriden by the pinocchio::GeometryObject::meshColor attribute if either of the following are true:

• the geometry's object type is coal::OT_GEOM,
• the pinocchio::GeometryObject::overrideMaterial flag is set to true.

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.

Note

The mesh materials' base colors will be overriden by the pinocchio::GeometryObject::meshColor attribute if either of the following are true:

• the geometry's object type is coal::OT_GEOM,
• the pinocchio::GeometryObject::overrideMaterial flag is set to true.

loadModel()

pin::Model & candlewick::multibody::loadModel ( const RobotSpec & spec, pin::Model & model, bool verbose = false )

inline

loadModels()

void candlewick::multibody::loadModels ( const RobotSpec & spec, pin::Model & model, pin::GeometryModel * visual_model, pin::GeometryModel * collision_model, bool verbose = false )

inline

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.