physics::PositionableOrientable Class Reference

interface for things that can be positioned and oriented in 3D space More...

Inheritance diagram for physics::PositionableOrientable:

[legend]Collaboration diagram for physics::PositionableOrientable:

[legend]List of all members.

Public Member Functions
	PositionableOrientable ()
	PositionableOrientable (const PositionableOrientable &po)
virtual PositionableOrientable &	operator= (const PositionableOrientable &po)
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 void	setPosition (const Point3 &pos)=0
virtual Point3	getPosition () const=0
virtual void	setOrientation (const Orient &orient)=0
virtual Orient	getOrientation () const=0

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Detailed Description

interface for things that can be positioned and oriented in 3D space

Definition at line 40 of file PositionableOrientable.

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Constructor & Destructor Documentation

physics::PositionableOrientable::PositionableOrientable (   )  [inline]

Definition at line 43 of file PositionableOrientable.

physics::PositionableOrientable::PositionableOrientable (  const PositionableOrientable &  po  )  [inline]

Definition at line 44 of file PositionableOrientable. References getConfiguration(), and setConfiguration().

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Member Function Documentation

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

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(), operator=(), and PositionableOrientable().

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

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Referenced by getConfiguration(), and physics::Orientable::operator=().

Real physics::PositionableOrientable::getOrientation2D (   )  const

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

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

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Referenced by getConfiguration(), getPosition2D(), and physics::Positionable::operator=().

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

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 PositionableOrientable& physics::PositionableOrientable::operator= (  const PositionableOrientable &  po  )  [inline, virtual]

Definition at line 46 of file PositionableOrientable. References getConfiguration(), and setConfiguration().

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

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 operator=(), PositionableOrientable(), and setPositionOrientation().

virtual void physics::Orientable::setOrientation (  const Orient &  orient  )  [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Referenced by physics::Orientable::operator=(), and setConfiguration().

virtual void physics::Positionable::setPosition (  const Point3 &  pos  )  [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Referenced by physics::Positionable::operator=(), and setConfiguration().

virtual void physics::PositionableOrientable::setPosition2D (  const base::Point2 &  p, Real  theta )  [virtual]

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]

Definition at line 48 of file PositionableOrientable. References base::Point3, and setConfiguration().

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

• physics/PositionableOrientable

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