Rigid bodies
Index
RigidBodyDynamics.RigidBodyRigidBodyDynamics.add_contact_point!RigidBodyDynamics.add_frame!RigidBodyDynamics.change_default_frame!RigidBodyDynamics.contact_pointsRigidBodyDynamics.default_frameRigidBodyDynamics.fixed_transformRigidBodyDynamics.frame_definitionRigidBodyDynamics.frame_definitionsRigidBodyDynamics.has_defined_inertiaRigidBodyDynamics.is_fixed_to_bodyRigidBodyDynamics.spatial_inertiaRigidBodyDynamics.spatial_inertia!
The RigidBody type
RigidBodyDynamics.RigidBody — Type.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.
Functions
RigidBodyDynamics.add_contact_point! — Method.add_contact_point!(body, point)
Add a new contact point to the rigid body
RigidBodyDynamics.add_frame! — Method.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.
RigidBodyDynamics.contact_points — Method.contact_points(body)
Return the contact points attached to the body as an ordered collection.
RigidBodyDynamics.default_frame — Method.default_frame(body)
The CartesianFrame3D with respect to which all other frames attached to body are defined.
RigidBodyDynamics.fixed_transform — Method.fixed_transform(body, from, to)
Return the transform from CartesianFrame3D from to to, both of which are rigidly attached to body.
RigidBodyDynamics.has_defined_inertia — Method.has_defined_inertia(b)
Whether the body has a defined inertia.
RigidBodyDynamics.spatial_inertia! — Method.spatial_inertia!(body, inertia)
Set the spatial inertia of the body.
RigidBodyDynamics.spatial_inertia — Method.Return the spatial inertia of the body. If the inertia is undefined, calling this method will result in an error.
RigidBodyDynamics.change_default_frame! — Method.change_default_frame!(body, new_default_frame)
Change the default frame of body to frame (which should already be among body's frame definitions).
RigidBodyDynamics.frame_definition — Method.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.
RigidBodyDynamics.frame_definitions — Method.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)).
RigidBodyDynamics.is_fixed_to_body — Method.is_fixed_to_body(body, frame)
Whether frame is attached to body (i.e. whether it is among frame_definitions(body)).