physics::SpatialTransform Class Reference

Inheritance diagram for physics::SpatialTransform:

[legend]Collaboration diagram for physics::SpatialTransform:

[legend]List of all members.

Public Member Functions
	SpatialTransform ()
	SpatialTransform (const base::Transform &childTransform)
	SpatialTransform (ref< Spatial > child, const base::Transform &childTransform)
	SpatialTransform (ref< Spatial > child, ref< Spatial > transformedRelativeTo)
	SpatialTransform (const String &name)
	SpatialTransform (const SpatialTransform &st)
virtual	~SpatialTransform ()
virtual String	className () const
SpatialTransform &	operator= (const SpatialTransform &st)
virtual void	setTransform (const base::Transform &transform)
virtual base::Transform	getTransform () const
virtual void	setChild (ref< Spatial > child)
virtual ref< Spatial >	getChild () const
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 base::Transform	getConfiguration () const
virtual void	setPositionOrientation (const Point3 &pos, const Orient &orient)
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
base::Transform	t
base::Transform	tinv
ref< Spatial >	child
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

A spatial that wraps a Transform around another Spatial (its configuration is a relative transform from the child's configuration)

Definition at line 39 of file SpatialTransform.

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Constructor & Destructor Documentation

physics::SpatialTransform::SpatialTransform (   )

physics::SpatialTransform::SpatialTransform (  const base::Transform &  childTransform  )

physics::SpatialTransform::SpatialTransform (  ref< Spatial >  child, const base::Transform &  childTransform )

physics::SpatialTransform::SpatialTransform (  ref< Spatial >  child, ref< Spatial >  transformedRelativeTo )

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

physics::SpatialTransform::SpatialTransform (  const SpatialTransform &  st  )

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

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Member Function Documentation

virtual String physics::SpatialTransform::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 50 of file SpatialTransform.

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<Spatial> physics::SpatialTransform::getChild (   )  const [virtual]

virtual base::Transform physics::SpatialTransform::getConfiguration (   )  const [virtual]

Reimplemented from physics::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::SpatialTransform::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::SpatialTransform::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 base::Transform physics::SpatialTransform::getTransform (   )  const [virtual]

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().

SpatialTransform& physics::SpatialTransform::operator= (  const SpatialTransform &  st  )

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::SpatialTransform::setChild (  ref< Spatial >  child  )  [virtual]

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

Reimplemented from physics::PositionableOrientable.

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::SpatialTransform::setOrientation (  const Orient &  orient  )  [virtual]

Implements physics::Orientable.

virtual void physics::SpatialTransform::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().

virtual void physics::SpatialTransform::setTransform (  const base::Transform &  transform  )  [virtual]

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().

ref<Spatial> physics::SpatialTransform::child [protected]

Definition at line 73 of file SpatialTransform.

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().

base::Transform physics::SpatialTransform::t [protected]

Definition at line 71 of file SpatialTransform.

base::Transform physics::SpatialTransform::tinv [protected]

Definition at line 72 of file SpatialTransform.

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

• physics/SpatialTransform

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