Body info holds the values that determine the dynamic behavior of the body, such as mass and inertia. More...

#include <Body.hpp>

Public Member Functions
	BodyInfo ()
	Construct empty body info.

void	print () const
	Output body info to std output.

void	print (std::ostream &ostr) const
	Output body info to output stream. More...

Public Attributes
std::string	material
	The type of material of the body. This determines the frictional effects.

std::string	objectType
	The object type determines the behaviour when bodies collide.

double	mass
	Mass of a body in kg.

rw::math::Vector3D	masscenter
	The location of the center of mass, given relative to the body frame.

rw::math::InertiaMatrix	inertia
	The inertia of the body given in the in the body frame around the masscenter .

std::string	integratorType
	Specify the type of integrator to use to integrate the motion - the effect is highly dependent on the PhysicsEngine used.

std::vector< rw::models::Object::Ptr >	objects
	The objects that compose the body.

Detailed Description

Body info holds the values that determine the dynamic behavior of the body, such as mass and inertia.

Member Function Documentation

void print ( std::ostream & ostr ) const

inline

Output body info to output stream.

Parameters

ostr	[out] the stream to output to.

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