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physics::SpatialGroup Class Reference

A collection of spatial entities. More...

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List of all members.

Public Types

typedef base::reflist< Spatial > SpatialList
typedef SpatialList::iterator iterator
typedef SpatialList::const_iterator const_iterator

Public Member Functions

 SpatialGroup ()
 SpatialGroup (const String &name)
 SpatialGroup (const SpatialGroup &bg)
virtual ~SpatialGroup ()
virtual String className () const
virtual SpatialGroup & operator= (const SpatialGroup &sg)
virtual void setImplicitConfiguration (ref< Spatial > spatial)
virtual void setExplicitConfiguration (const base::Transform &configuration)
virtual void setPosition (const Point3 &pos)
virtual Point3 getPosition () const
virtual void setOrientation (const Orient &orient)
virtual Orient getOrientation () const
virtual void setConfiguration (const base::Transform &configuration)
virtual void add (ref< Spatial > spatial)
virtual void remove (ref< Spatial > spatial)
virtual void clear ()
iterator begin ()
iterator end ()
const_iterator begin () const
const_iterator end () const
virtual void updateGroupPositionOrientation (const Point3 &pos, const Orient &orient)
virtual void updateGroupConfiguration (const base::Transform &configuration)
virtual void setPositionOrientation (const Point3 &pos, const Orient &orient)
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

virtual void setName (const String &name)

Protected Attributes

SpatialList spatials
int _refCount
bool onUnreferenceEnabled

Friends

std::ostream & operator<< (std::ostream &out, const SpatialGroup &sg)

Detailed Description

A collection of spatial entities.

Definition at line 41 of file SpatialGroup.

Member Typedef Documentation

typedef SpatialList::const_iterator physics::SpatialGroup::const_iterator
 

Definition at line 69 of file SpatialGroup.

typedef SpatialList::iterator physics::SpatialGroup::iterator
 

Definition at line 68 of file SpatialGroup.

typedef base::reflist<Spatial> physics::SpatialGroup::SpatialList
 

Definition at line 67 of file SpatialGroup.

Constructor & Destructor Documentation

physics::SpatialGroup::SpatialGroup (   ) 
 

physics::SpatialGroup::SpatialGroup (  const String &  name  ) 
 

physics::SpatialGroup::SpatialGroup (  const SpatialGroup &  bg  ) 
 

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

Member Function Documentation

virtual void physics::SpatialGroup::add (  ref< Spatial >  spatial  )  [virtual]
 

const_iterator physics::SpatialGroup::begin (   )  const [inline]
 

Definition at line 73 of file SpatialGroup.

References base::reflist< _Tp, _Alloc >::begin(), and spatials.

iterator physics::SpatialGroup::begin (   )  [inline]
 

Definition at line 71 of file SpatialGroup.

References base::reflist< _Tp, _Alloc >::begin(), and spatials.

virtual String physics::SpatialGroup::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 49 of file SpatialGroup.

virtual void physics::SpatialGroup::clear (   )  [virtual]
 

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.

const_iterator physics::SpatialGroup::end (   )  const [inline]
 

Definition at line 74 of file SpatialGroup.

References base::reflist< _Tp, _Alloc >::end(), and spatials.

iterator physics::SpatialGroup::end (   )  [inline]
 

Definition at line 72 of file SpatialGroup.

References base::reflist< _Tp, _Alloc >::end(), and spatials.

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

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

virtual const String& base::Named::getName (   )  const [inline, virtual, inherited]
 

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==().

virtual Orient physics::SpatialGroup::getOrientation (   )  const [virtual]
 

Implements physics::Orientable.

Real physics::PositionableOrientable::getOrientation2D (   )  const [inherited]
 

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

virtual Point3 physics::SpatialGroup::getPosition (   )  const [virtual]
 

Implements physics::Positionable.

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

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 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().

virtual SpatialGroup& physics::SpatialGroup::operator= (  const SpatialGroup &  sg  )  [virtual]
 

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::SpatialGroup::remove (  ref< Spatial >  spatial  )  [virtual]
 

virtual void physics::SpatialGroup::setConfiguration (  const base::Transform &  configuration  )  [virtual]
 

Reimplemented from physics::PositionableOrientable.

virtual void physics::SpatialGroup::setExplicitConfiguration (  const base::Transform &  configuration  )  [virtual]
 

virtual void physics::SpatialGroup::setImplicitConfiguration (  ref< Spatial >  spatial  )  [virtual]
 

virtual void base::Named::setName (  const String &  name  )  [inline, protected, virtual, inherited]
 

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle.

Definition at line 47 of file Named.

References base::String.

Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

virtual void physics::SpatialGroup::setOrientation (  const Orient &  orient  )  [virtual]
 

Implements physics::Orientable.

virtual void physics::SpatialGroup::setPosition (  const Point3 &  pos  )  [virtual]
 

Implements physics::Positionable.

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

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, inherited]
 

Definition at line 48 of file PositionableOrientable.

References base::Point3, and physics::PositionableOrientable::setConfiguration().

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.

virtual void physics::SpatialGroup::updateGroupConfiguration (  const base::Transform &  configuration  )  [virtual]
 

virtual void physics::SpatialGroup::updateGroupPositionOrientation (  const Point3 &  pos,
const Orient &  orient
)  [virtual]
 

Friends And Related Function Documentation

std::ostream& operator<< (  std::ostream &  out,
const SpatialGroup &  sg
)  [friend]
 

Definition at line 94 of file SpatialGroup.

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().

SpatialList physics::SpatialGroup::spatials [protected]
 

Definition at line 80 of file SpatialGroup.

Referenced by begin(), end(), and physics::operator<<().

The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:41:40 2004 for OpenSim by doxygen 1.3.6