structure.h File Reference

#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/CylinderShape.hpp>
#include <dart/dynamics/SphereShape.hpp>
#include <dart/dynamics/MeshShape.hpp>
#include <dart/dynamics/RevoluteJoint.hpp>
#include <dart/dynamics/PrismaticJoint.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/WeldJoint.hpp>
#include <dart/dynamics/Skeleton.hpp>
#include <robowflex_library/class_forward.h>
#include <robowflex_library/adapter.h>
#include <robowflex_library/tf.h>

Go to the source code of this file.

Classes
class	robowflex::darts::Structure
	Wrapper class for a dart::dynamics::Skeleton. More...

Namespaces
	robowflex
	Main namespace. Contains all library classes and functions.
	robowflex::darts
	DART-based robot modeling and planning.
	robowflex::darts::magic

Functions
dart::dynamics::ShapePtr	robowflex::darts::makeGeometry (const GeometryPtr &geometry)
	Convert a robowflex::Geometry to a Dart Shape. More...
std::shared_ptr< dart::dynamics::BoxShape >	robowflex::darts::makeBox (const Eigen::Ref< const Eigen::Vector3d > &v)
	Create a box. More...
std::shared_ptr< dart::dynamics::BoxShape >	robowflex::darts::makeBox (double x, double y, double z)
	Create a box. More...
std::shared_ptr< dart::dynamics::CylinderShape >	robowflex::darts::makeCylinder (double radius, double height)
	Create a cylinder. More...
std::shared_ptr< dart::dynamics::SphereShape >	robowflex::darts::makeSphere (double radius)
	Create a sphere. More...
std::shared_ptr< dart::dynamics::MeshShape >	robowflex::darts::makeMesh (const GeometryPtr &geometry)
	Create a mesh from a robowflex::Geometry that contains a mesh. More...
std::shared_ptr< dart::dynamics::MeshShape >	robowflex::darts::makeArcsegment (double low, double high, double inner_radius, double outer_radius, std::size_t resolution=32)
	Create a circle's arcsector from one angle to another, with a specified radius. More...
void	robowflex::darts::setColor (dart::dynamics::BodyNode *node, const Eigen::Vector4d &color)
	Sets the color of the shapes on a body node. More...

Variables
static const double	robowflex::darts::magic::DEFAULT_DENSITY = 1000.
static const double	robowflex::darts::magic::DEFAULT_DAMPING = 0.001
static const double	robowflex::darts::magic::DEFAULT_RESTITUTION = 1