candlewick::multibody::RobotDebugSystem Struct Reference

A debug system for use with Pinocchio models and geometries. More...

#include <candlewick/multibody/RobotDebug.h>

Inheritance diagram for candlewick::multibody::RobotDebugSystem:

Public Member Functions
	RobotDebugSystem (DebugScene &scene, const pin::Model &model, const pin::Data &data)
entt::entity	addFrameTriad (pin::FrameIndex frame_id, const Float3 &scale=DEFAULT_TRIAD_SCALE)
entt::entity	addFrameVelocityArrow (pin::FrameIndex frame_id, float scale=DEFAULT_VEL_SCALE)
void	update () override
	Update the transform components for the debug visual entities, according to their frame placements and velocities.
void	destroyEntities ()
	~RobotDebugSystem ()
void	reload (const pin::Model &model, const pin::Data &data)
Public Member Functions inherited from candlewick::IDebugSubSystem
virtual	~IDebugSubSystem ()=default

Static Public Attributes
static Float3	DEFAULT_TRIAD_SCALE = Float3::Constant(0.33333f)
static float	DEFAULT_VEL_SCALE = 0.5f

Additional Inherited Members
Protected Member Functions inherited from candlewick::IDebugSubSystem
	IDebugSubSystem (DebugScene &scene)
Protected Attributes inherited from candlewick::IDebugSubSystem
DebugScene &	m_scene

Detailed Description

A debug system for use with Pinocchio models and geometries.

Supports drawing a triad for a frame. Member pinData must refer to an existing pinocchio::Data object at all times.

Constructor & Destructor Documentation

RobotDebugSystem()

candlewick::multibody::RobotDebugSystem::RobotDebugSystem ( DebugScene & scene, const pin::Model & model, const pin::Data & data )

inline

~RobotDebugSystem()

candlewick::multibody::RobotDebugSystem::~RobotDebugSystem ( )

inline

Member Function Documentation

addFrameTriad()

entt::entity candlewick::multibody::RobotDebugSystem::addFrameTriad	(	pin::FrameIndex	frame_id,
		const Float3 &	scale = DEFAULT_TRIAD_SCALE )

addFrameVelocityArrow()

entt::entity candlewick::multibody::RobotDebugSystem::addFrameVelocityArrow	(	pin::FrameIndex	frame_id,
		float	scale = DEFAULT_VEL_SCALE )

destroyEntities()

void candlewick::multibody::RobotDebugSystem::destroyEntities

(

)

reload()

void candlewick::multibody::RobotDebugSystem::reload ( const pin::Model & model, const pin::Data & data )

inline

update()

void candlewick::multibody::RobotDebugSystem::update ( )

overridevirtual

Update the transform components for the debug visual entities, according to their frame placements and velocities.

Warning

We expect pinocchio::updateFramePlacements() or pinocchio::framesForwardKinematics() to be called first!

Implements candlewick::IDebugSubSystem.

Member Data Documentation

DEFAULT_TRIAD_SCALE

Float3 candlewick::multibody::RobotDebugSystem::DEFAULT_TRIAD_SCALE = Float3::Constant(0.33333f)

inlinestatic

DEFAULT_VEL_SCALE

float candlewick::multibody::RobotDebugSystem::DEFAULT_VEL_SCALE = 0.5f

inlinestatic

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

• src/candlewick/multibody/RobotDebug.h