osaODEBody Class Reference

#include <osaODEBody.h>

Inheritance diagram for osaODEBody:

Classes
struct	State

Public Member Functions
	osaODEBody (const std::string &model, osaODEWorld *odeworld, const vctFrame4x4< double > &Rtwb, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Main constructor. More...
	osaODEBody (const std::string &model, osaODEWorld *odeworld, const vctFrm3 &Rtwb, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Constructor. More...
	osaODEBody (const std::string &model, osaODEWorld *odeWorld, const vctFrame4x4< double > &Rtwb, double m, const vctFixedSizeVector< double, 3 > &com, const vctFixedSizeMatrix< double, 3, 3 > &moit, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Main constructor. More...
	osaODEBody (const std::string &model, osaODEWorld *odeworld, const vctFrm3 &Rt, double m, const vctFixedSizeVector< double, 3 > &tbcom, const vctFixedSizeMatrix< double, 3, 3 > &moit, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Main constructor. More...
	osaODEBody (const std::string &model, osaODEWorld *odeworld, const vctFrame4x4< double > &Rt, double m, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Main constructor. More...
	osaODEBody (const std::string &model, osaODEWorld *odeworld, const vctFrm3 &Rt, double m, double scale=1.0, double alpha=1.0, const std::string &options=std::string(""), osaOSGWorld *osgworld=NULL, double simplify_ratio=0.0)
	Main constructor. More...
	~osaODEBody ()
	Default destructor. More...
void	Enable ()
	Enable the body in a simulation. More...
void	Disable ()
	Disable the body in a simulation. More...
dBodyID	GetBodyID () const
	Query the ID of the body. More...
dGeomID	GetGeomID () const
	Query the ID of the body. More...
const std::string &	GetUserData ()
void	SetTransform (const vctFrame4x4< double > &Rt)
	Set the transform of the body. More...
vctFrm3	GetTransform () const
Public Member Functions inherited from osaOSGBody
	osaOSGBody (osaOSGWorld *world, const vctFrame4x4< double > &Rt)
	OSG Body constructor. More...
	osaOSGBody (osaOSGBody *body, const vctFrame4x4< double > &Rt)
	osaOSGBody (const std::string &model, const vctFrame4x4< double > &Rt, double scale=1.0, double alpha=1.0, const vctFrame4x4< double > &Rtoffset=vctFrame4x4< double >(), const std::string &option=std::string(""))
	OSG Body constructor. More...
	osaOSGBody (const std::string &model, osaOSGWorld *world, const vctFrame4x4< double > &Rt, double scale=1.0, double alpha=1.0, const vctFrame4x4< double > &Rtoffset=vctFrame4x4< double >(), const std::string &option=std::string(""))
	OSG Body constructor. More...
	osaOSGBody (const std::string &model, osaOSGBody *world, const vctFrame4x4< double > &Rt, double scale=1.0, double alpha=1.0, const vctFrame4x4< double > &Rtoffset=vctFrame4x4< double >(), const std::string &option=std::string(""))
	OSG Body constructor. More...
	osaOSGBody (const std::string &model, osaOSGWorld *world, const vctFrm3 &Rt, double scale=1.0, double alpha=1.0, const std::string &option=std::string(""))
	OSG Body constructor. More...
	osaOSGBody (const vctDynamicMatrix< double > &pointcloud, osaOSGWorld *world, const vctFrm3 &Rt, const vctFixedSizeVector< unsigned char, 3 > &rgb=RGBDEFAULT, float size=3.0)
	Construcor for 3D point cloud. More...
	osaOSGBody ()
	~osaOSGBody ()
void	Initialize (double scale=1.0)
virtual void	SetTransform (const vctFrm3 &Rt)
osg::ref_ptr < osg::MatrixTransform >	GetMatrixTransform ()
void	ResetMatrixTransform ()
void	SwitchOn ()
	Set the switch of the body. More...
void	SwitchOff ()
void	SetModeLine ()
void	SetModePoint ()
void	SetModeFill ()
void	AddTransformCallback (void)
virtual vctDynamicMatrix< double >	GetVertices ()

Additional Inherited Members
Public Types inherited from osaOSGBody
enum	Switch { SWITCH_OFF, SWITCH_ON }
Static Public Attributes inherited from osaOSGBody
static const vctFixedSizeVector< unsigned char, 3 >	RGBDEFAULT
Protected Member Functions inherited from osaOSGBody
virtual void	UpdateSwitch ()
	This method is called from the switch callback. More...
void	ReadModel (const std::string &fname, const std::string &options, double alpha)
void	Read3DData (const vctDynamicMatrix< double > &pc, const vctFixedSizeVector< unsigned char, 3 > &RGB=RGBDEFAULT, float size=3.0)
Protected Attributes inherited from osaOSGBody
osg::ref_ptr< UserData >	userdata
osg::ref_ptr < osg::PositionAttitudeTransform >	osgscale
osg::ref_ptr< TransformCallback >	transformcallback
vctFrame4x4< double >	transform
vctFrame4x4< double >	Rtoffset
osg::ref_ptr < osg::MatrixTransform >	osgtransform
osg::ref_ptr< SwitchCallback >	switchcallback
Switch	onoff
osg::ref_ptr< osg::Switch >	osgswitch
osg::ref_ptr< osg::Geode >	osggeode

Constructor & Destructor Documentation

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeworld,
		const vctFrame4x4< double > &	Rtwb,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Main constructor.

This create an ODE body that can be inserted in an ODE world. This body does not have mass such that it cannot be moved (static object).

Parameters

model	The file name of the body's geometry
odeworld	The world the body belongs to
Rtwb	The position/orientation of the body
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeworld,
		const vctFrm3 &	Rtwb,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Constructor.

This create an ODE body that can be inserted in an ODE world. This body does not have mass such that it cannot be moved (static object). The space ID is defined to the world's space.

Parameters

model	The file name of the body's geometry
odeWorld	The world the body belongs to
Rtwb	The position/orientation of the body
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeWorld,
		const vctFrame4x4< double > &	Rtwb,
		double	m,
		const vctFixedSizeVector< double, 3 > &	com,
		const vctFixedSizeMatrix< double, 3, 3 > &	moit,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Main constructor.

This create an ODE body that can be inserted in an ODE world. This body has a mass such that it can be moved.

Parameters

model	The file name of the body's geometry
odeWorld	The world the body belongs to
Rtwb	The position/orientation of the body
m	The mass of the body
com	The center of mass of the body
moit	The moment of inertia tensor
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeworld,
		const vctFrm3 &	Rt,
		double	m,
		const vctFixedSizeVector< double, 3 > &	tbcom,
		const vctFixedSizeMatrix< double, 3, 3 > &	moit,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Main constructor.

This create an ODE body that can be inserted in an ODE world. This body has a mass such that it can be moved.

Parameters

model	The file name of the body's geometry
odeWorld	The world the body belongs to
Rtwb	The position/orientation of the body
m	The mass of the body
com	The center of mass of the body
moit	The moment of inertia tensor
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeworld,
		const vctFrame4x4< double > &	Rt,
		double	m,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Main constructor.

This create an ODE body that can be inserted in an ODE world. This body has a mass such that it can be moved. The center of mass is set to zero and the tensor to identity and space ID set to the world's space.

Parameters

model	The file name of the body's geometry
odeWorld	The world the body belongs to
Rtwb	The position/orientation of the body
m	The mass of the body
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::osaODEBody	(	const std::string &	model,
		osaODEWorld *	odeworld,
		const vctFrm3 &	Rt,
		double	m,
		double	scale = 1.0,
		double	alpha = 1.0,
		const std::string &	options = std::string(""),
		osaOSGWorld *	osgworld = NULL,
		double	simplify_ratio = 0.0
	)

Main constructor.

This create an ODE body that can be inserted in an ODE world. This body has a mass such that it can be moved. The center of mass is set to zero and the tensor to identity and space ID set to the world's space.

Parameters

model	The file name of the body's geometry
odeWorld	The world the body belongs to
Rtwb	The position/orientation of the body
m	The mass of the body
osgworld	An osg group to use. If NULL the root of odeworld is used

osaODEBody::~osaODEBody

(

)

Default destructor.

Member Function Documentation

void osaODEBody::Disable

(

)

Disable the body in a simulation.

void osaODEBody::Enable

(

)

Enable the body in a simulation.

dBodyID osaODEBody::GetBodyID ( ) const

inline

Query the ID of the body.

dGeomID osaODEBody::GetGeomID ( ) const

inline

Query the ID of the body.

vctFrm3 osaODEBody::GetTransform ( ) const

virtual

Reimplemented from osaOSGBody.

const std::string& osaODEBody::GetUserData

(

)

void osaODEBody::SetTransform ( const vctFrame4x4< double > &  Rt )

virtual

Set the transform of the body.

Reimplemented from osaOSGBody.

---

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

• /home/adeguet1/catkin_ws/src/cisst-saw/sawOpenDynamicsEngine/include/sawOpenDynamicsEngine/osaODEBody.h