GLbody Class Reference

#include <GLbody.h>

Inheritance diagram for GLbody:

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() [1/3]

GLbody::GLbody

(

)

Definition at line 14 of file GLbody.cpp.

~GLbody() [1/2]

GLbody::~GLbody

(

)

Definition at line 18 of file GLbody.cpp.

GLbody() [2/3]

GLbody::GLbody

(

OpenHRP::BodyInfo_var

i_binfo

)

~GLbody() [2/2]

GLbody::~GLbody

(

)

GLbody() [3/3]

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

Member Function Documentation

computeAABB()

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

Definition at line 102 of file GLbody.cpp.

divideLargeTriangles()

void GLbody::divideLargeTriangles

(

double

maxEdgeLen

)

Definition at line 94 of file GLbody.cpp.

draw() [1/2]

void GLbody::draw

(

)

Definition at line 59 of file GLbody.cpp.

draw() [2/2]

void GLbody::draw

(

)

drawSensor()

void GLbody::drawSensor

(

hrp::Sensor *

i_sensor

)

Definition at line 79 of file GLbody.cpp.

findCamera() [1/3]

GLcamera * GLbody::findCamera

(

const char *

i_name

)

Definition at line 71 of file GLbody.cpp.

findCamera() [2/3]

GLcamera* GLbody::findCamera

(

const char *

i_name

)

findCamera() [3/3]

GLcamera* GLbody::findCamera

(

const char *

i_name

)

getBoundingBox()

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

inlinevirtual

Definition at line 61 of file IrrModel.h.

getSensorDrawCallback()

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

(

)

Definition at line 89 of file GLbody.cpp.

render()

virtual void GLbody::render ( )

inlinevirtual

Definition at line 60 of file IrrModel.h.

setPosition() [1/2]

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

Definition at line 27 of file GLbody.cpp.

setPosition() [2/2]

template<class T >

void GLbody::setPosition ( const T &  p )

inline

Definition at line 19 of file GLbody.h.

setPosture() [1/5]

void GLbody::setPosture

(

const double *

i_angles

)

Definition at line 21 of file GLbody.cpp.

setPosture() [2/5]

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

Definition at line 42 of file GLbody.cpp.

setPosture() [3/5]

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

setPosture() [4/5]

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

setPosture() [5/5]

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

Definition at line 265 of file GLmodel.cpp.

setRotation() [1/2]

void GLbody::setRotation

(

const double *

R

)

Definition at line 37 of file GLbody.cpp.

setRotation() [2/2]

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

Definition at line 32 of file GLbody.cpp.

setSensorDrawCallback()

void GLbody::setSensorDrawCallback

(

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

f

)

Definition at line 84 of file GLbody.cpp.

useAbsTransformToDraw()

void GLbody::useAbsTransformToDraw ( )

static

Definition at line 9 of file GLbody.cpp.

Member Data Documentation

m_box

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

private

Definition at line 67 of file IrrModel.h.

m_links

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

private

Definition at line 75 of file GLmodel.h.

m_root

GLlink * GLbody::m_root

private

Definition at line 74 of file GLmodel.h.

m_sensorDrawCallback

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

private

Definition at line 38 of file GLbody.h.

m_useAbsTransformToDraw

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:

• GLbody.h
• GLmodel.h
• IrrModel.h
• GLbody.cpp
• GLmodel.cpp
• IrrModel.cpp