candlewick::multibody::RobotDebugSystem Struct Reference

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

#include <candlewick/multibody/RobotDebug.h>

Inheritance diagram for candlewick::multibody::RobotDebugSystem:

Public Member Functions
	RobotDebugSystem (const pin::Model &model, const pin::Data &data)
entt::entity	addFrameTriad (DebugScene &scene, pin::FrameIndex frame_id, const Float3 &scale=DEFAULT_TRIAD_SCALE)
entt::entity	addFrameVelocityArrow (DebugScene &scene, pin::FrameIndex frame_id)
void	update (DebugScene &scene)
	Update the visualization of the frame placements and their velocities.
Public Member Functions inherited from candlewick::IDebugSubSystem
virtual	~IDebugSubSystem ()=default

Static Public Attributes
static const Float3	DEFAULT_TRIAD_SCALE = Float3::Constant(0.3333f)

Detailed Description

A debug system for use with Pinocchio 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 ( const pin::Model & model, const pin::Data & data )

inline

Member Function Documentation

addFrameTriad()

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

addFrameVelocityArrow()

entt::entity candlewick::multibody::RobotDebugSystem::addFrameVelocityArrow	(	DebugScene &	scene,
		pin::FrameIndex	frame_id )

update()

void candlewick::multibody::RobotDebugSystem::update ( DebugScene & scene )

inlinevirtual

Update the visualization of the frame placements and their velocities.

Warning

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

Implements candlewick::IDebugSubSystem.

Member Data Documentation

DEFAULT_TRIAD_SCALE

const Float3 candlewick::multibody::RobotDebugSystem::DEFAULT_TRIAD_SCALE = Float3::Constant(0.3333f)

inlinestatic

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

• src/candlewick/multibody/RobotDebug.h