Public Member Functions | |
virtual | ~Body () |
virtual String | className () const |
virtual ref< const Shape > | getShape () 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 Body & | operator= (const Body &b) |
void | setShape (ref< Shape > shape) |
virtual void | setName (const String &name) |
Protected Attributes | |
int | _refCount |
bool | onUnreferenceEnabled |
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Definition at line 50 of file Body. References Assert. |
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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. |
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If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled. |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=(). |
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Reimplemented in physics::ODESolid. Definition at line 91 of file DynamicSpatial. References physics::PositionableOrientable::getConfiguration(), and base::Point3. |
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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==(). |
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Implements physics::Orientable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(). |
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get the 2D angle theta (rot. angle about Z-axis)
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Implements physics::Positionable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(). |
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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. |
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Reimplemented in physics::ODESolid. Definition at line 81 of file DynamicSpatial. References physics::PositionableOrientable::getConfiguration(), base::Point3, and base::Transform::transform(). |
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Reimplemented in physics::ODESolid. Definition at line 86 of file DynamicSpatial. References base::Point3, and Unimplemented. |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Definition at line 45 of file Body. Referenced by physics::Solid::createCollidable(), and physics::CollidableBody::getBoundingBox(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=(). |
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Definition at line 52 of file ReferencedObject. |
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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(). |
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Reimplemented in physics::ODESolid. Definition at line 53 of file Body. References shape. |
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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. |
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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(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implements physics::Orientable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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Implements physics::Positionable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)
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Definition at line 48 of file PositionableOrientable. References base::Point3, and physics::PositionableOrientable::setConfiguration(). |
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Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=(). |
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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. |
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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(). |
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Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference(). |