RobWorkProject  24.5.15-
Public Member Functions | Public Attributes | List of all members
BodyInfo Struct Reference

Body info holds the values that determine the dynamic behavior of the body, such as mass and inertia. More...

#include <Body.hpp>

Public Member Functions

 BodyInfo ()
 Construct empty body info.
 
void print () const
 Output body info to std output.
 
void print (std::ostream &ostr) const
 Output body info to output stream. More...
 

Public Attributes

std::string material
 The type of material of the body. This determines the frictional effects.
 
std::string objectType
 The object type determines the behaviour when bodies collide.
 
double mass
 Mass of a body in kg.
 
rw::math::Vector3D masscenter
 The location of the center of mass, given relative to the body frame.
 
rw::math::InertiaMatrix inertia
 The inertia of the body given in the in the body frame around the masscenter .
 
std::string integratorType
 Specify the type of integrator to use to integrate the motion - the effect is highly dependent on the PhysicsEngine used.
 
std::vector< rw::models::Object::Ptrobjects
 The objects that compose the body.
 

Detailed Description

Body info holds the values that determine the dynamic behavior of the body, such as mass and inertia.

Member Function Documentation

◆ print()

void print ( std::ostream &  ostr) const
inline

Output body info to output stream.

Parameters
ostr[out] the stream to output to.

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