esp::metadata::attributes::ArticulatedObjectAttributes class

#include <esp/metadata/attributes/ArticulatedObjectAttributes.h>

attributes class describing essential and default quantities used to instantiate an Articulated object

Base classes

class AbstractAttributes

Base class for all implemented attributes. Inherits from esp::core::managedContainers::AbstractFileBasedManagedObject so the attributes can be managed by a esp::core::managedContainers::ManagedContainer.

Constructors, destructors, conversion operators

ArticulatedObjectAttributes(const std::string& handle = "") explicit

Public functions

void setURDFPath(const std::string& urdfFilepath)

Sets the string name for the Articulated Object URDF relative path.

auto getURDFPath() const -> std::string

Gets the string name for the Articulated Object URDF relative path.

void setRenderAssetHandle(const std::string& renderAsset)

Sets the string name for the render asset relative path.

auto getRenderAssetHandle() const -> std::string

Gets the string name for the render asset relative path.

void setUniformScale(float scale)

Set uniform scaling of the articulated object.

auto getUniformScale() const -> float

Get uniform scaling of the articulated object.

void setMassScale(double scale)

Set mass scaling of the articulated object.

auto getMassScale() const -> double

Get mass scaling of the articulated object.

void setBaseType(const std::string& baseType)

Set the type of base/root joint to use to add this Articulated Object to the world. Cannot be "UNSPECIFIED".

auto getBaseType() const -> ArticulatedObjectBaseType

Get the type of base/root joint to use to add this Articulated Object to the world.

void setInertiaSource(const std::string& inertiaSrc)

Set the source of the inertia tensors to use for this Articulated Object.

auto getInertiaSource() const -> ArticulatedObjectInertiaSource

Get the source of the inertia tensors to use for this Articulated Object.

void setLinkOrder(const std::string& linkOrder)

Set the link order to use for the linkages of this Articulated Object.

auto getLinkOrder() const -> ArticulatedObjectLinkOrder

Get the link order to use for the linkages of this Articulated Object.

void setRenderMode(const std::string& renderMode)

Set the render mode to use to render this Articulated Object.

auto getRenderMode() const -> ArticulatedObjectRenderMode

Get the render mode to use to render this Articulated Object.

void setShaderType(const std::string& shader_type)

Set the default shader to use for this Articulated Object. This may be overridden by a scene instance specification.

auto getShaderType() const -> ObjectInstanceShaderType

Get the default shader to use for this Articulated Object. This may be overridden by a scene instance specification.

void setSemanticId(int semanticId)

Sets the semantic ID for instanced Articulated Objects.

auto getSemanticId() const -> uint32_t

Gets the semantic ID for instanced Articulated Objects.

void writeValuesToJson(io::JsonGenericValue& jsonObj, io::JsonAllocator& allocator) const override

Populate a json object with all the first-level values held in this configuration. Default is overridden to handle special cases for ArticulatedObjectAttributes.

auto getMarkerSetsConfiguration() const -> std::shared_ptr<MarkerSets>

Gets a smart pointer reference to a copy of the marker_sets configuration data from config file.

auto editMarkerSetsConfiguration() -> std::shared_ptr<MarkerSets>

Gets a smart pointer reference to the actual marker_sets configuration data from config file. This method is for editing the configuration.

auto rekeyAllMarkerSets() -> int

Rekey all the markers in the marker_sets subconfiguration such that each point is keyed by a sequential numeric string that preserves the natural ordering of the key strings.

Protected functions

auto getObjectInfoHeaderInternal() const -> std::string override

Retrieve a comma-separated string holding the header values for the info returned for this managed object, type-specific.

auto getObjectInfoInternal() const -> std::string override

Retrieve a comma-separated informational string about the contents of this managed object.