physics::ODEJoint Class Reference

Inheritance diagram for physics::ODEJoint:

[legend]Collaboration diagram for physics::ODEJoint:

[legend]List of all members.

Public Member Functions
	ODEJoint ()
virtual	~ODEJoint ()
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
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 Member Functions
void	checkAddedAndAttached () const
virtual bool	hasMotor (Int dof) const=0
	implemented by concrete ODEJoint classes to indicate which DOF's can have a Motor attached
virtual void	setMotorTargetVel (Int dof, Real vel)=0
	implemented by concrete ODEJoint classes
virtual void	setMotorMaxForce (Int dof, Real force)=0
	implemented by concrete ODEJoint classes
virtual void	onConstraintGroupAdd (ref< ConstraintGroup > g)=0
	called by ConstraintGroup::addConstraint()
virtual void	setJointID (dJointID jointID)
Protected Attributes
ref< Body >	body1
ref< Body >	body2
ref< ODEMotor >	motors [6]
int	_refCount
bool	onUnreferenceEnabled
ref< ConstraintGroup >	group
dJointID	jointID
Friends
class	ODEMotor
class	ODEConstraintGroup

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Constructor & Destructor Documentation

physics::ODEJoint::ODEJoint (   )

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

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Member Function Documentation

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

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

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

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

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

Definition at line 53 of file ODEJoint. References Assertm.

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

Implements physics::Joint.

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

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

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

Implements physics::Joint.

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

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

virtual bool physics::ODEJoint::hasMotor (  Int  dof  )  const [protected, pure virtual]

implemented by concrete ODEJoint classes to indicate which DOF's can have a Motor attached Implemented in physics::ODEBallJoint, physics::ODEDoubleHingeJoint, physics::ODEHingeJoint, physics::ODESliderJoint, and physics::ODEUniversalJoint.

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::ODEConstraint::onConstraintGroupAdd (  ref< ConstraintGroup >  g  )  [protected, pure virtual, inherited]

called by ConstraintGroup::addConstraint() Implemented in physics::ODEBallJoint, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODESliderJoint, and physics::ODEUniversalJoint.

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::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::ODEJoint::setMotorMaxForce (  Int  dof, Real  force )  [protected, pure virtual]

implemented by concrete ODEJoint classes Implemented in physics::ODEBallJoint, physics::ODEDoubleHingeJoint, physics::ODEHingeJoint, physics::ODESliderJoint, and physics::ODEUniversalJoint.

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

implemented by concrete ODEJoint classes Implemented in physics::ODEBallJoint, physics::ODEDoubleHingeJoint, physics::ODEHingeJoint, physics::ODESliderJoint, and physics::ODEUniversalJoint.

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.

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]

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]

Definition at line 59 of file ODEJoint.

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

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]

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/ODEJoint

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