ArticulatedObjectAttributes class
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.
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.