physics::ODEHingeJoint Class Reference

Inheritance diagram for physics::ODEHingeJoint:

[legend]Collaboration diagram for physics::ODEHingeJoint:

[legend]List of all members.

Public Member Functions
	ODEHingeJoint ()
virtual	~ODEHingeJoint ()
virtual String	className () const
virtual Object &	clone () const
virtual void	setAnchor (const Point3 &p)
	body1 relative
virtual Point3	getAnchor () const
virtual void	setAxis (const Vector3 &v)
	body1 relative
virtual Vector3	getAxis () const
virtual Real	getAngle () const
virtual Real	getAngleRate () const
virtual void	setHighStop (Real angle)
	upper joint stop (-pi..+pi)
virtual void	setLowStop (Real angle)
	lower joint stop (-pi..+pi)
virtual void	setStopRestitution (Real r)
	'bouncyness' of the stops (0..1)
virtual void	setParameter (const String &name, Real value, Int dof=1)
	"CFM","StopERP", "StopCFM" & "FudgeFactor"
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 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
virtual void	attach (ref< Body > body1, ref< Body > body2)
	attach this constraint to two bodies
virtual ref< Body >	getBody (Int index)
	get Body (index is 1 or 2); returns null if unattached
virtual ref< const Body >	getBody (Int index) const
virtual void	attachMotor (Int dof, ref< Motor > motor)
	attach Motor to dof n, or remove if motor==0
virtual ref< Motor >	getMotor (Int dof)
	get Motor on dof n, or 0 if none
virtual ref< const Motor >	getMotor (Int dof) const
Protected Member Functions
virtual void	onConstraintGroupAdd (ref< ConstraintGroup > g)
	called by ConstraintGroup::addConstraint()
virtual bool	hasMotor (Int dof) const
	implemented by concrete ODEJoint classes to indicate which DOF's can have a Motor attached
virtual void	setMotorTargetVel (Int dof, Real vel)
	implemented by concrete ODEJoint classes
virtual void	setMotorMaxForce (Int dof, Real force)
	implemented by concrete ODEJoint classes
void	checkAddedAndAttached () const
virtual void	setJointID (dJointID jointID)
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled
ref< Body >	body1
ref< Body >	body2
ref< ODEMotor >	motors [6]
ref< ConstraintGroup >	group
dJointID	jointID
Friends
class	ODEMotor
class	ODEConstraintGroup

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Constructor & Destructor Documentation

physics::ODEHingeJoint::ODEHingeJoint (   )

Referenced by clone().

virtual physics::ODEHingeJoint::~ODEHingeJoint (   )  [virtual]

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Member Function Documentation

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

attach this constraint to two bodies Implements physics::Joint.

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::ODEJoint::attachMotor (  Int  dof, ref< Motor >  motor )  [virtual, inherited]

attach Motor to dof n, or remove if motor==0 Implements physics::Joint.

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.

void physics::ODEJoint::checkAddedAndAttached (   )  const [inline, protected, inherited]

Definition at line 53 of file ODEJoint. References Assertm.

virtual String physics::ODEHingeJoint::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 42 of file ODEHingeJoint. Referenced by clone().

virtual Object& physics::ODEHingeJoint::clone (   )  const [inline, virtual]

Definition at line 43 of file ODEHingeJoint. References className(), NewNamedObj, and ODEHingeJoint().

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::ODEHingeJoint::getAnchor (   )  const [virtual]

Implements physics::HingeJoint.

virtual Real physics::ODEHingeJoint::getAngle (   )  const [virtual]

Implements physics::HingeJoint.

virtual Real physics::ODEHingeJoint::getAngleRate (   )  const [virtual]

Implements physics::HingeJoint.

virtual Vector3 physics::ODEHingeJoint::getAxis (   )  const [virtual]

Implements physics::HingeJoint.

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

Implements physics::Joint.

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

get Body (index is 1 or 2); returns null if unattached Implements physics::Joint.

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::ODEJoint::getMotor (  Int  dof  )  const [virtual, inherited]

Implements physics::Joint.

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

get Motor on dof n, or 0 if none Implements physics::Joint.

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 physics::ODEHingeJoint::hasMotor (  Int  dof  )  const [protected, virtual]

implemented by concrete ODEJoint classes to indicate which DOF's can have a Motor attached Implements 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 physics::ODEHingeJoint::onConstraintGroupAdd (  ref< ConstraintGroup >  g  )  [protected, virtual]

called by ConstraintGroup::addConstraint() Implements physics::ODEConstraint.

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::ODEHingeJoint::setAnchor (  const Point3 &  p  )  [virtual]

body1 relative Implements physics::HingeJoint.

virtual void physics::ODEHingeJoint::setAxis (  const Vector3 &  v  )  [virtual]

body1 relative Implements physics::HingeJoint.

virtual void physics::ODEHingeJoint::setHighStop (  Real  angle  )  [virtual]

upper joint stop (-pi..+pi) Implements physics::HingeJoint.

virtual void physics::ODEConstraint::setJointID (  dJointID  jointID  )  [inline, protected, virtual, inherited]

Parameters: jointID  call in derived when ODE joint created (dJointDestroy() called by destructor) Definition at line 45 of file ODEConstraint.

virtual void physics::ODEHingeJoint::setLowStop (  Real  angle  )  [virtual]

lower joint stop (-pi..+pi) Implements physics::HingeJoint.

virtual void physics::ODEHingeJoint::setMotorMaxForce (  Int  dof, Real  force )  [protected, virtual]

implemented by concrete ODEJoint classes Implements physics::ODEJoint.

virtual void physics::ODEHingeJoint::setMotorTargetVel (  Int  dof, Real  vel )  [protected, virtual]

implemented by concrete ODEJoint classes Implements physics::ODEJoint.

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

"CFM","StopERP", "StopCFM" & "FudgeFactor" Reimplemented from physics::Constraint.

virtual void physics::ODEHingeJoint::setStopRestitution (  Real  r  )  [virtual]

'bouncyness' of the stops (0..1) Implements physics::HingeJoint.

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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Friends And Related Function Documentation

friend class ODEConstraintGroup [friend, inherited]

Definition at line 51 of file ODEConstraint.

friend class ODEMotor [friend, inherited]

Definition at line 68 of file ODEJoint.

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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().

ref<Body> physics::ODEJoint::body1 [protected, inherited]

Definition at line 59 of file ODEJoint.

ref<Body> physics::ODEJoint::body2 [protected, inherited]

Definition at line 60 of file ODEJoint.

ref<ConstraintGroup> physics::ODEConstraint::group [protected, inherited]

Definition at line 48 of file ODEConstraint.

dJointID physics::ODEConstraint::jointID [protected, inherited]

Definition at line 49 of file ODEConstraint.

ref<ODEMotor> physics::ODEJoint::motors[6] [protected, inherited]

Definition at line 66 of file ODEJoint.

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/ODEHingeJoint

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