GraspableBody Class Reference

Used for dynamic bodies that are not part of a robot. More...

#include <body.h>

Inheritance diagram for GraspableBody:

[legend]

List of all members.

Public Member Functions
virtual void	cloneFrom (const GraspableBody *newBody)
SoSeparator *	getIVGeomPrimitives () const
	GraspableBody (World *w, const char *name=0)
	When using the CGDB, here we store the CGDB model that this body comes from, if any.
virtual void	setDefaultViewingParameters ()
virtual	~GraspableBody ()
Private Attributes
SoSeparator *	IVGeomPrimitives
	A pointer to the Inventor root of the shape primitives for this body.
Friends
QTextStream &	operator<< (QTextStream &os, const GraspableBody &gb)

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Detailed Description

Used for dynamic bodies that are not part of a robot.

A Graspable body is partially transparent by default and shows the locations of any contacts on its surface.

Definition at line 672 of file body.h.

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Constructor & Destructor Documentation

GraspableBody::GraspableBody	(	World *	w,
		const char *	name = 0
	)

When using the CGDB, here we store the CGDB model that this body comes from, if any.

Definition at line 2242 of file body.cpp.

GraspableBody::~GraspableBody

(

)

[virtual]

Definition at line 2252 of file body.cpp.

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Member Function Documentation

void GraspableBody::cloneFrom

(

const GraspableBody *

original

)

[virtual]

Probably not needed, just calls super

Definition at line 2269 of file body.cpp.

SoSeparator* GraspableBody::getIVGeomPrimitives

(

)

const [inline]

If the body has shape primitives defined (i.e. they were found when the body was loaded), this returns a pointer to the Inventor root node of that tree. Otherwise, it returns NULL.

Definition at line 694 of file body.h.

void GraspableBody::setDefaultViewingParameters

(

)

[virtual]

Shows friction cones and axes, and sets transparency to 0.4

Reimplemented from DynamicBody.

Definition at line 2259 of file body.cpp.

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Friends And Related Function Documentation

QTextStream& operator<<	(	QTextStream &	os,
		const GraspableBody &	gb
	)			[friend]

Output method for writing body data to a text world configuration file

Definition at line 2279 of file body.cpp.

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Member Data Documentation

SoSeparator* GraspableBody::IVGeomPrimitives [private]

A pointer to the Inventor root of the shape primitives for this body.

Definition at line 676 of file body.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/body.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/body.cpp