ArticulatedSystemMapping
Mapping between a set of 6D DOF's and a set of angles (ยต) using an articulated hierarchy container.
Templates:
Vec1d,Rigid3d,Rigid3d
Target: ArticulatedSystemPlugin
namespace: sofa::component::mapping
parents:
Multi2Mapping
Data:
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
| indexInput2 | Corresponding index if the base of the articulated system is attached to input2. Default is last index. | 0 |
Links:
| Name | Description |
|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) |
| slaves | Sub-objects used internally by this object |
| master | nullptr for regular objects, or master object for which this object is one sub-objects |
| input1 | Input Object(s) (1st Data type) |
| input2 | Input Object(s) (2st Data type) |
| output | Output Object(s) |
| container | Path to ArticulatedHierarchyContainer. |