class
SceneAOInstanceAttributesThis class describes an instance of an articulated object in a scene.
- along with its template name, translation from the origin, rotation, motiontype, and other values inherited from SceneObjectInstanceAttributes, it also holds initial joint pose and joint velocities.
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 - SceneObjectInstanceAttributes handle is also the handle of the underlying AbstractObjectAttributes for the object being instanced.
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
void esp:: metadata:: attributes:: SceneAOInstanceAttributes:: addInitJointPoseVal(const std:: string& key,
float val)
Add a value to this scene attributes joint initial pose map.
Parameters | |
---|---|
key | the location/joint name to place the value |
val | the joint value to set |
void esp:: metadata:: attributes:: SceneAOInstanceAttributes:: addInitJointVelocityVal(const std:: string& key,
float val)
Add a value to this scene attributes joint initial velocity map.
Parameters | |
---|---|
key | the location/joint name to place the value |
val | the joint angular velocity value to set |