#include <GLbody.h>

Inheritance diagram for GLbody:

[legend]

Public Member Functions
void	computeAABB (hrp::Vector3 &o_min, hrp::Vector3 &o_max)

void	divideLargeTriangles (double maxEdgeLen)

size_t	draw ()

void	draw ()

void	drawSensor (hrp::Sensor *i_sensor)

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

virtual const irr::core::aabbox3d< irr::f32 > &	getBoundingBox () const

boost::function2< void, hrp::Body , hrp::Sensor >	getSensorDrawCallback ()

	GLbody ()

	GLbody (irr::scene::ISceneNode i_parent, irr::scene::ISceneManager i_mgr, irr::s32 i_id, OpenHRP::BodyInfo_var i_binfo)

	GLbody (OpenHRP::BodyInfo_var i_binfo)

virtual void	render ()

void	setPosition (double x, double y, double z)

template<class T >
void	setPosition (const T &p)

void	setPosture (const double *i_angles)

void	setPosture (const double i_angles, double i_pos, double *i_rpy)

void	setPosture (const hrp::dvector &i_q, const hrp::Vector3 &i_p, const hrp::Matrix33 &i_R)

void	setPosture (double i_angles, double i_pos, double *i_rpy)

void	setPosture (double i_angles, double i_pos, double *i_rpy)

void	setRotation (const double *R)

void	setRotation (double r, double p, double y)

void	setSensorDrawCallback (boost::function2< void, hrp::Body , hrp::Sensor > f)

	~GLbody ()

	~GLbody ()

Public Member Functions inherited from hrp::Body
void	addSensor (Sensor *sensor, int sensorType, int id)

	Body ()

	Body (const Body &org)

void	calcAngularMomentumJacobian (Link *base, dmatrix &H)

Vector3	calcCM ()

void	calcCMJacobian (Link *base, dmatrix &J)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)

void	calcMassMatrix (dmatrix &out_M)

double	calcTotalMass ()

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)

void	clearExternalForces ()

void	clearSensorValues ()

Light *	createLight (Link *link, int lightType, const std::string &name)

Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)

void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)

JointPathPtr	getJointPath (Link baseLink, Link targetLink)

void	initializeConfiguration ()

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	isStaticModel ()

Link *	joint (int id) const

const std::vector< Link * > &	joints () const

Light *	light (const std::string &name)

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	links () const

const LinkTraverse &	linkTraverse () const

const std::string &	modelName ()

const std::string &	name ()

unsigned int	numJoints () const

unsigned int	numLinks () const

unsigned int	numSensors (int sensorType) const

unsigned int	numSensorTypes () const

void	putInformation (std::ostream &out)

Link *	rootLink () const

Sensor *	sensor (int sensorType, int sensorId) const

TSensor *	sensor (const std::string &name) const

TSensor *	sensor (int id) const

void	setColumnOfMassMatrix (dmatrix &M, int column)

void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)

void	setModelName (const std::string &name)

void	setName (const std::string &name)

void	setRootLink (Link *link)

void	setVirtualJointForces ()

double	totalMass () const

void	updateLinkColdetModelPositions ()

void	updateLinkTree ()

virtual	~Body ()

Public Member Functions inherited from hrp::Referenced
	Referenced ()

virtual	~Referenced ()

Static Public Member Functions
static void	useAbsTransformToDraw ()

Static Public Member Functions inherited from hrp::Body
static BodyInterface *	bodyInterface ()

Private Attributes
irr::core::aabbox3d< irr::f32 >	m_box

std::vector< GLlink * >	m_links

GLlink *	m_root

boost::function2< void, hrp::Body , hrp::Sensor >	m_sensorDrawCallback

Static Private Attributes
static bool	m_useAbsTransformToDraw = false

Additional Inherited Members
Public Types inherited from hrp::Body
enum	ExtraJointType

Public Attributes inherited from hrp::Body
	EJ_XY

	EJ_XYZ

	EJ_Z

std::vector< ExtraJoint >	extraJoints

Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

Detailed Description

Definition at line 11 of file GLbody.h.

Constructor & Destructor Documentation

GLbody::GLbody ( )

Definition at line 14 of file GLbody.cpp.

GLbody::~GLbody ( )

Definition at line 18 of file GLbody.cpp.

GLbody::GLbody ( OpenHRP::BodyInfo_var i_binfo )

GLbody::~GLbody ( )

GLbody::GLbody	(	irr::scene::ISceneNode *	i_parent,
		irr::scene::ISceneManager *	i_mgr,
		irr::s32	i_id,
		OpenHRP::BodyInfo_var	i_binfo
	)

Member Function Documentation

void GLbody::computeAABB	(	hrp::Vector3 &	o_min,
		hrp::Vector3 &	o_max
	)

Definition at line 102 of file GLbody.cpp.

void GLbody::divideLargeTriangles ( double maxEdgeLen )

Definition at line 94 of file GLbody.cpp.

void GLbody::draw ( )

Definition at line 59 of file GLbody.cpp.

void GLbody::draw ( )

void GLbody::drawSensor ( hrp::Sensor * i_sensor )

Definition at line 79 of file GLbody.cpp.

GLcamera * GLbody::findCamera ( const char * i_name )

Definition at line 71 of file GLbody.cpp.

GLcamera* GLbody::findCamera ( const char * i_name )

virtual const irr::core::aabbox3d<irr::f32>& GLbody::getBoundingBox ( ) const

inlinevirtual

Definition at line 61 of file IrrModel.h.

boost::function2< void, hrp::Body *, hrp::Sensor * > GLbody::getSensorDrawCallback ( )

Definition at line 89 of file GLbody.cpp.

virtual void GLbody::render ( )

inlinevirtual

Definition at line 60 of file IrrModel.h.

void GLbody::setPosition	(	double	x,
		double	y,
		double	z
	)

Definition at line 27 of file GLbody.cpp.

template<class T >

void GLbody::setPosition ( const T & p )

inline

Definition at line 19 of file GLbody.h.

void GLbody::setPosture ( const double * i_angles )

Definition at line 21 of file GLbody.cpp.

void GLbody::setPosture	(	const double *	i_angles,
		double *	i_pos,
		double *	i_rpy
	)

Definition at line 42 of file GLbody.cpp.

void GLbody::setPosture	(	const hrp::dvector &	i_q,
		const hrp::Vector3 &	i_p,
		const hrp::Matrix33 &	i_R
	)

void GLbody::setPosture	(	double *	i_angles,
		double *	i_pos,
		double *	i_rpy
	)

void GLbody::setPosture	(	double *	i_angles,
		double *	i_pos,
		double *	i_rpy
	)

Definition at line 265 of file GLmodel.cpp.

void GLbody::setRotation ( const double * R )

Definition at line 37 of file GLbody.cpp.

void GLbody::setRotation	(	double	r,
		double	p,
		double	y
	)

Definition at line 32 of file GLbody.cpp.

void GLbody::setSensorDrawCallback ( boost::function2< void, hrp::Body *, hrp::Sensor * > f )

Definition at line 84 of file GLbody.cpp.

void GLbody::useAbsTransformToDraw ( )

static

Definition at line 9 of file GLbody.cpp.

Member Data Documentation

irr::core::aabbox3d<irr::f32> GLbody::m_box

private

Definition at line 67 of file IrrModel.h.

std::vector< GLlink * > GLbody::m_links

private

Definition at line 75 of file GLmodel.h.

GLlink * GLbody::m_root

private

Definition at line 74 of file GLmodel.h.

boost::function2<void, hrp::Body *, hrp::Sensor *> GLbody::m_sensorDrawCallback

private

Definition at line 38 of file GLbody.h.

bool GLbody::m_useAbsTransformToDraw = false

staticprivate

Definition at line 37 of file GLbody.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation