Rigid bodies

mutable struct RigidBody{T}

A non-deformable body.

A RigidBody has inertia (represented as a SpatialInertia), unless it represents a root (world) body. A RigidBody additionally stores a list of definitions of coordinate systems that are rigidly attached to it.

add_contact_point!(body, point)

Add a new contact point to the rigid body

add_frame!(body, transform)

Add a new frame definition to body, represented by a homogeneous transform from the CartesianFrame3D to be added to any other frame that is already attached to body.

change_default_frame!(body, new_default_frame)

Change the default frame of body to frame (which should already be among body's frame definitions).

contact_points(body)

Return the contact points attached to the body as an ordered collection.

default_frame(body)

The CartesianFrame3D with respect to which all other frames attached to body are defined.

See frame_definitions(body), frame_definition(body, frame).

fixed_transform(body, from, to)

Return the transform from CartesianFrame3D from to to, both of which are rigidly attached to body.

frame_definition(body, frame)

Return the Transform3D defining frame (attached to body) with respect to default_frame(body).

Throws an error if frame is not attached to body.

frame_definitions(body)

Return the list of homogeneous transforms (Transform3Ds) that define the coordinate systems attached to body with respect to a single common frame (default_frame(body)).

has_defined_inertia(b)

Whether the body has a defined inertia.

is_fixed_to_body(body, frame)

Whether frame is attached to body (i.e. whether it is among frame_definitions(body)).

spatial_inertia!(body, inertia)

Set the spatial inertia of the body.

Return the spatial inertia of the body. If the inertia is undefined, calling this method will result in an error.