physics::DoubleHingeJoint Class Reference

Inheritance diagram for physics::DoubleHingeJoint:

[legend]Collaboration diagram for physics::DoubleHingeJoint:

[legend]List of all members.

Public Member Functions
	DoubleHingeJoint ()
virtual	~DoubleHingeJoint ()
virtual void	setAnchor (const Point3 &p)=0
	body1 relative
virtual Point3	getAnchor () const=0
virtual void	setAxis1 (const Vector3 &v)=0
	body1 relative
virtual Vector3	getAxis1 () const=0
virtual void	setAxis2 (const Vector3 &v)=0
	body2 relative
virtual Vector3	getAxis2 () const=0
virtual Real	getAngle1 () const=0
virtual Real	getAngle1Rate () const=0
virtual Real	getAngle2Rate () const=0
virtual void	setHighStop (Int dof, Real angle)=0
	upper joint stop (-pi..+pi), dof (1|2)
virtual void	setLowStop (Int dof, Real angle)=0
	lower joint stop (-pi..+pi), dof (1|2)
virtual void	setStopRestitution (Int dof, Real r)=0
	'bouncyness' of the stops (0..1)
virtual void	attach (ref< Body > body1, ref< Body > body2)=0
	attach this joint to two bodies
virtual ref< Body >	getBody (Int index)=0
	get Body (index is 1 or 2); returns null if unattached
virtual ref< const Body >	getBody (Int index) const=0
virtual void	attachMotor (Int dof, ref< Motor > motor)=0
	attach Motor to dof n, or remove if motor==0
virtual ref< Motor >	getMotor (Int dof)=0
	get Motor on dof n, or 0 if none
virtual ref< const Motor >	getMotor (Int dof) const=0
virtual void	setParameter (const String &name, Real value, Int dof=1)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
virtual String	className () const=0
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled

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Constructor & Destructor Documentation

physics::DoubleHingeJoint::DoubleHingeJoint (   )  [inline]

Definition at line 38 of file DoubleHingeJoint.

virtual physics::DoubleHingeJoint::~DoubleHingeJoint (   )  [inline, virtual]

Definition at line 39 of file DoubleHingeJoint.

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Member Function Documentation

virtual void physics::Joint::attach (  ref< Body >  body1, ref< Body >  body2 )  [pure virtual, inherited]

attach this joint to two bodies Implemented in physics::ODEJoint.

virtual void physics::Joint::attachMotor (  Int  dof, ref< Motor >  motor )  [pure virtual, inherited]

attach Motor to dof n, or remove if motor==0 Implemented in physics::ODEJoint.

virtual String base::Object::className (   )  const [pure virtual, inherited]

return the name of the object's class type. Must be defined by derived classes. Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

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 Point3 physics::DoubleHingeJoint::getAnchor (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual Real physics::DoubleHingeJoint::getAngle1 (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual Real physics::DoubleHingeJoint::getAngle1Rate (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual Real physics::DoubleHingeJoint::getAngle2Rate (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual Vector3 physics::DoubleHingeJoint::getAxis1 (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual Vector3 physics::DoubleHingeJoint::getAxis2 (   )  const [pure virtual]

Implemented in physics::ODEDoubleHingeJoint.

virtual ref<const Body> physics::Joint::getBody (  Int  index  )  const [pure virtual, inherited]

Implemented in physics::ODEJoint.

virtual ref<Body> physics::Joint::getBody (  Int  index  )  [pure virtual, inherited]

get Body (index is 1 or 2); returns null if unattached Implemented in physics::ODEJoint.

virtual ref<const Motor> physics::Joint::getMotor (  Int  dof  )  const [pure virtual, inherited]

Implemented in physics::ODEJoint.

virtual ref<Motor> physics::Joint::getMotor (  Int  dof  )  [pure virtual, inherited]

get Motor on dof n, or 0 if none Implemented in physics::ODEJoint.

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().

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::DoubleHingeJoint::setAnchor (  const Point3 &  p  )  [pure virtual]

body1 relative Implemented in physics::ODEDoubleHingeJoint.

virtual void physics::DoubleHingeJoint::setAxis1 (  const Vector3 &  v  )  [pure virtual]

body1 relative Implemented in physics::ODEDoubleHingeJoint.

virtual void physics::DoubleHingeJoint::setAxis2 (  const Vector3 &  v  )  [pure virtual]

body2 relative Implemented in physics::ODEDoubleHingeJoint.

virtual void physics::DoubleHingeJoint::setHighStop (  Int  dof, Real  angle )  [pure virtual]

upper joint stop (-pi..+pi), dof (1|2) Implemented in physics::ODEDoubleHingeJoint.

virtual void physics::DoubleHingeJoint::setLowStop (  Int  dof, Real  angle )  [pure virtual]

lower joint stop (-pi..+pi), dof (1|2) Implemented in physics::ODEDoubleHingeJoint.

virtual void physics::Constraint::setParameter (  const String &  name, Real  value, Int  dof = 1 )  [inline, virtual, inherited]

Reimplemented in physics::ContactConstraint, physics::FixedConstraint, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, and physics::ODESliderJoint. Definition at line 42 of file Constraint. References Exception.

virtual void physics::DoubleHingeJoint::setStopRestitution (  Int  dof, Real  r )  [pure virtual]

'bouncyness' of the stops (0..1) Implemented in physics::ODEDoubleHingeJoint.

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.

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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().

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

• physics/DoubleHingeJoint

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