esp::metadata::attributes::SceneAOInstanceAttributes class

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

Base classes

class SceneObjectInstanceAttributes

This class describes an instance of a stage, object or articulated object in a scene - its template name, translation from the origin, rotation, motiontype, and other values required to instantiate the construct described.

Constructors, destructors, conversion operators

SceneAOInstanceAttributes(const std::string& handle) explicit

SceneAOInstanceAttributes handle is also the handle of the underlying ArticulatedObjectAttributes for the object being instanced.

SceneAOInstanceAttributes(const std::string& handle, const std::shared_ptr<ArticulatedObjectAttributes>& aObjAttribs) protected

Called only from SceneInstanceAttributesManager, to create and initialize an instance attributes from an existing object attributes.

Public functions

void setBaseType(const std::string& baseType)

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

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.

auto getAutoClampJointLimits() const -> bool

Articulated Object Instance only. Get or set whether or not dofs should be automatically clamped to specified joint limits before physics simulation step.

void setAutoClampJointLimits(bool auto_clamp_joint_limits)

auto getInitJointPose() const -> const std::map<std::string, float>&

retrieve a mutable reference to this scene attributes joint initial pose map

auto copyIntoInitJointPose() -> std::map<std::string, float>&

void addInitJointPoseVal(const std::string& key, float val)

Add a value to this scene attributes joint initial pose map.

auto getInitJointVelocities() const -> const std::map<std::string, float>&

retrieve a mutable reference to this scene attributes joint initial velocity map

auto copyIntoInitJointVelocities() -> std::map<std::string, float>&

void addInitJointVelocityVal(const std::string& key, float val)

Add a value to this scene attributes joint initial velocity map.

Protected functions

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

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

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

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

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

Populate the passed JSON object with all the first-level values specific to this SceneObjectInstanceAttributes. This is to facilitate SceneAOInstanceAttributes-specific values to be written.

Protected variables

std::map<std::string, float> initJointPose_

Map of joint names/idxs to values for initial pose.

std::map<std::string, float> initJointVelocities_

Map of joint names/idxs to values for initial velocities.

Function documentation