frcsim::RigidAssembly Class Reference

Multi-body articulated system made from rigid links and joints. More...

#include <rigid_assembly.hpp>

Public Member Functions
	RigidAssembly ()=default
RigidBody *	addBody (double mass_kg)
	Add a body to this assembly (takes ownership).
std::vector< RigidBody > &	bodies ()
	Retrieve bodies.
const std::vector< RigidBody > &	bodies () const
RevoluteJoint *	addRevoluteJoint (size_t body_a_idx, size_t body_b_idx, const Vector3 &axis_local)
	Create joints between bodies in this assembly.
PrismaticJoint *	addPrismaticJoint (size_t body_a_idx, size_t body_b_idx, const Vector3 &axis_local)
FixedJoint *	addFixedJoint (size_t body_a_idx, size_t body_b_idx)
std::vector< std::shared_ptr< JointBase > > &	joints ()
	Joint management.
const std::vector< std::shared_ptr< JointBase > > &	joints () const
void	setRootBodyIndex (size_t idx)
size_t	rootBodyIndex () const
double	totalMass () const
	Get total assembly mass.
Vector3	centerOfMass () const
	Compute assembly center of mass in world space.
void	enableConstraints (bool enable)
	Disable/enable all constraints in assembly.
void	solveConstraints (double dt_s, int iterations)

Detailed Description

Multi-body articulated system made from rigid links and joints.

Physics principle: an assembly forms a constrained rigid-body graph where each joint removes degrees of freedom and the solver enforces those constraints through impulses each step.

Reference: https://en.wikipedia.org/wiki/Multibody_system

Constructor & Destructor Documentation

RigidAssembly()

frcsim::RigidAssembly::RigidAssembly ( )

default

Member Function Documentation

addBody()

RigidBody * frcsim::RigidAssembly::addBody

(

double

mass_kg

)

Add a body to this assembly (takes ownership).

addFixedJoint()

FixedJoint * frcsim::RigidAssembly::addFixedJoint	(	size_t	body_a_idx,
		size_t	body_b_idx )

addPrismaticJoint()

PrismaticJoint * frcsim::RigidAssembly::addPrismaticJoint	(	size_t	body_a_idx,
		size_t	body_b_idx,
		const Vector3 &	axis_local )

addRevoluteJoint()

RevoluteJoint * frcsim::RigidAssembly::addRevoluteJoint	(	size_t	body_a_idx,
		size_t	body_b_idx,
		const Vector3 &	axis_local )

Create joints between bodies in this assembly.

bodies() [1/2]

std::vector< RigidBody > & frcsim::RigidAssembly::bodies ( )

inline

Retrieve bodies.

bodies() [2/2]

const std::vector< RigidBody > & frcsim::RigidAssembly::bodies ( ) const

inline

centerOfMass()

Vector3 frcsim::RigidAssembly::centerOfMass

(

)

const

Compute assembly center of mass in world space.

enableConstraints()

void frcsim::RigidAssembly::enableConstraints

(

bool

enable

)

Disable/enable all constraints in assembly.

joints() [1/2]

std::vector< std::shared_ptr< JointBase > > & frcsim::RigidAssembly::joints ( )

inline

Joint management.

joints() [2/2]

const std::vector< std::shared_ptr< JointBase > > & frcsim::RigidAssembly::joints ( ) const

inline

rootBodyIndex()

size_t frcsim::RigidAssembly::rootBodyIndex ( ) const

inline

setRootBodyIndex()

void frcsim::RigidAssembly::setRootBodyIndex

(

size_t

idx

)

Mark one body as the "root" or primary reference (no physical meaning, just organization)

solveConstraints()

void frcsim::RigidAssembly::solveConstraints	(	double	dt_s,
		int	iterations )

totalMass()

double frcsim::RigidAssembly::totalMass

(

)

const

Get total assembly mass.

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

• src/main/driver/include/frcsim/rigidbody/rigid_assembly.hpp