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physics::Body Class Reference

Inheritance diagram for physics::Body:

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Collaboration diagram for physics::Body:

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List of all members.

Public Member Functions

virtual ~Body ()
virtual String className () const
virtual ref< const ShapegetShape () const
virtual void setPosition (const Point3 &x)=0
virtual void setOrientation (const Orient &orient)=0
virtual Point3 getPosition () const=0
virtual Orient getOrientation () const=0
virtual void setVelocity (const Vector3 &v)=0
virtual void setAngVelocity (const Vector3 &w)=0
virtual Vector3 getVelocity () const=0
virtual Vector3 getAngVelocity () const=0
virtual void saveState ()=0
virtual void restoreState ()=0
virtual Point3 getSavedPosition () const=0
virtual Orient getSavedOrientation () const=0
virtual Vector3 getSavedVelocity () const=0
virtual Vector3 getSavedAngVelocity () const=0
virtual Point3 getRelPointPos (const Point3 &p)
virtual Vector3 getRelPointVel (const Point3 &p)
virtual Point3 getGlobalPointRelPos (const Point3 &p)
virtual void setPositionOrientation (const Point3 &pos, const Orient &orient)
virtual void setConfiguration (const base::Transform &configuration)
virtual base::Transform getConfiguration () const
virtual void setPosition2D (const base::Point2 &p, Real theta)
 set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)

virtual base::Point2 getPosition2D () const
 get the 2D (x,y) position

Real getOrientation2D () const
 get the 2D angle theta (rot. angle about Z-axis)

virtual const String & getName () const
virtual bool isSameKindAs (const ReferencedObject &) const
virtual bool isSameKindAs (const Object &) const
void reference () const
bool unreference () const
const int referenceCount () const
void enableOnUnreferenceCall (bool enabled)
virtual void onUnreference () const

Protected Member Functions

 Body ()
 Body (ref< const Shape > shape)
 Body (const Body &b)
virtual Bodyoperator= (const Body &b)
void setShape (ref< Shape > shape)
virtual void setName (const String &name)

Protected Attributes

int _refCount
bool onUnreferenceEnabled

Constructor & Destructor Documentation

virtual physics::Body::~Body  )  [inline, virtual]
 

Definition at line 41 of file Body.

physics::Body::Body  )  [inline, protected]
 

Definition at line 49 of file Body.

physics::Body::Body ref< const Shape shape  )  [inline, protected]
 

Definition at line 50 of file Body.

References Assert.

physics::Body::Body const Body b  )  [inline, protected]
 

Definition at line 51 of file Body.


Member Function Documentation

virtual String physics::Body::className  )  const [inline, virtual]
 

return the name of the object's class type. Must be defined by derived classes.

Reimplemented from physics::DynamicSpatial.

Reimplemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::Solid.

Definition at line 43 of file Body.

void base::Referenced::enableOnUnreferenceCall bool  enabled  )  [inline, inherited]
 

If enabled, each call to unreference() will also call virtual method onUnreference()

Definition at line 115 of file Referenced.

References base::Referenced::onUnreferenceEnabled.

virtual Vector3 physics::DynamicSpatial::getAngVelocity  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=().

virtual base::Transform physics::PositionableOrientable::getConfiguration  )  const [inline, virtual, inherited]
 

Reimplemented in physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

Definition at line 60 of file PositionableOrientable.

References physics::Orientable::getOrientation(), and physics::Positionable::getPosition().

Referenced by physics::CollidableBody::getBoundingBox(), physics::DynamicSpatial::getGlobalPointRelPos(), physics::DynamicSpatial::getRelPointPos(), physics::PositionableOrientable::operator=(), and physics::PositionableOrientable::PositionableOrientable().

virtual Point3 physics::DynamicSpatial::getGlobalPointRelPos const Point3 p  )  [inline, virtual, inherited]
 

Reimplemented in physics::ODESolid.

Definition at line 91 of file DynamicSpatial.

References physics::PositionableOrientable::getConfiguration(), and base::Point3.

virtual const String& base::Named::getName  )  const [inline, virtual, inherited]
 

Definition at line 44 of file Named.

References base::String.

Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

virtual Orient physics::DynamicSpatial::getOrientation  )  const [pure virtual, inherited]
 

Implements physics::Orientable.

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::operator<<().

Real physics::PositionableOrientable::getOrientation2D  )  const [inherited]
 

get the 2D angle theta (rot. angle about Z-axis)

virtual Point3 physics::DynamicSpatial::getPosition  )  const [pure virtual, inherited]
 

Implements physics::Positionable.

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::operator<<().

virtual base::Point2 physics::PositionableOrientable::getPosition2D  )  const [inline, virtual, inherited]
 

get the 2D (x,y) position

Definition at line 72 of file PositionableOrientable.

References physics::Positionable::getPosition(), base::Point2, base::Point3, base::Vector3::x, and base::Vector3::y.

virtual Point3 physics::DynamicSpatial::getRelPointPos const Point3 p  )  [inline, virtual, inherited]
 

Reimplemented in physics::ODESolid.

Definition at line 81 of file DynamicSpatial.

References physics::PositionableOrientable::getConfiguration(), base::Point3, and base::Transform::transform().

virtual Vector3 physics::DynamicSpatial::getRelPointVel const Point3 p  )  [inline, virtual, inherited]
 

Reimplemented in physics::ODESolid.

Definition at line 86 of file DynamicSpatial.

References base::Point3, and Unimplemented.

virtual Vector3 physics::DynamicSpatial::getSavedAngVelocity  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual Orient physics::DynamicSpatial::getSavedOrientation  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual Point3 physics::DynamicSpatial::getSavedPosition  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual Vector3 physics::DynamicSpatial::getSavedVelocity  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual ref<const Shape> physics::Body::getShape  )  const [inline, virtual]
 

Definition at line 45 of file Body.

Referenced by physics::Solid::createCollidable(), and physics::CollidableBody::getBoundingBox().

virtual Vector3 physics::DynamicSpatial::getVelocity  )  const [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=().

virtual bool base::Object::isSameKindAs const Object  )  const [inline, virtual, inherited]
 

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs const ReferencedObject  )  const [inline, virtual, inherited]
 

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference  )  const [inline, virtual, inherited]
 

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references

Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.

Definition at line 121 of file Referenced.

Referenced by base::Referenced::unreference().

virtual Body& physics::Body::operator= const Body b  )  [inline, protected, virtual]
 

Reimplemented in physics::ODESolid.

Definition at line 53 of file Body.

References shape.

void base::Referenced::reference  )  const [inline, inherited]
 

Increment the reference count by one, indicating that this object has another pointer which is referencing it.

Definition at line 65 of file Referenced.

References base::Referenced::_refCount.

const int base::Referenced::referenceCount  )  const [inline, inherited]
 

Return the number pointers currently referencing this object.

Definition at line 112 of file Referenced.

References base::Referenced::_refCount.

Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void physics::DynamicSpatial::restoreState  )  [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

virtual void physics::DynamicSpatial::saveState  )  [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual void physics::DynamicSpatial::setAngVelocity const Vector3 w  )  [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual void physics::PositionableOrientable::setConfiguration const base::Transform configuration  )  [inline, virtual, inherited]
 

Reimplemented in physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

Definition at line 53 of file PositionableOrientable.

References base::Transform::getRotation(), base::Transform::getTranslation(), physics::Orientable::setOrientation(), and physics::Positionable::setPosition().

Referenced by physics::PositionableOrientable::operator=(), physics::PositionableOrientable::PositionableOrientable(), and physics::PositionableOrientable::setPositionOrientation().

virtual void base::Named::setName const String name  )  [inline, protected, virtual, inherited]
 

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle.

Definition at line 47 of file Named.

References base::String.

Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

virtual void physics::DynamicSpatial::setOrientation const Orient orient  )  [pure virtual, inherited]
 

Implements physics::Orientable.

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual void physics::DynamicSpatial::setPosition const Point3 x  )  [pure virtual, inherited]
 

Implements physics::Positionable.

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

virtual void physics::PositionableOrientable::setPosition2D const base::Point2 p,
Real  theta
[virtual, inherited]
 

set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)

virtual void physics::PositionableOrientable::setPositionOrientation const Point3 pos,
const Orient orient
[inline, virtual, inherited]
 

Definition at line 48 of file PositionableOrientable.

References base::Point3, and physics::PositionableOrientable::setConfiguration().

void physics::Body::setShape ref< Shape shape  )  [inline, protected]
 

Definition at line 55 of file Body.

virtual void physics::DynamicSpatial::setVelocity const Vector3 v  )  [pure virtual, inherited]
 

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

Referenced by physics::DynamicSpatial::operator=().

bool base::Referenced::unreference  )  const [inline, inherited]
 

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.

Definition at line 81 of file Referenced.

References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.


Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]
 

Definition at line 136 of file Referenced.

Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]
 

Definition at line 137 of file Referenced.

Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().


The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:40:03 2004 for OpenSim by doxygen 1.3.6