#include <Block.h>

Inheritance diagram for mvsim::Block:

Public Member Functions
virtual void	apply_force (double fx, double fy, double local_ptx=0.0, double local_pty=0.0)

virtual void	create_multibody_system (b2World *world)

mrpt::math::TPoint2D	getBlockCenterOfMass () const
	In local coordinates. More...

size_t	getBlockIndex () const

const mrpt::math::TPolygon2D &	getBlockShape () const

b2Body *	getBox2DBlockBody ()

mrpt::poses::CPose2D	getCPose2D () const

virtual double	getMass () const

virtual float	getMaxBlockRadius () const

const std::string &	getName () const

const mrpt::math::TPose3D &	getPose () const

const vec3 &	getVelocity () const

vec3	getVelocityLocal () const

virtual void	gui_update (mrpt::opengl::COpenGLScene &scene)

void	setBlockIndex (size_t idx)

void	setPose (const mrpt::math::TPose3D &p) const

virtual void	simul_post_timestep (const TSimulContext &context)

void	simul_post_timestep_common (const TSimulContext &context)

virtual void	simul_pre_timestep (const TSimulContext &context)

Public Member Functions inherited from mvsim::VisualObject
World *	getWorldObject ()

const World *	getWorldObject () const

	VisualObject (World *parent)

virtual	~VisualObject ()

Static Public Member Functions
static Block *	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Block *	factory (World *parent, const std::string &xml_text)

static void	register_block_class (const rapidxml::xml_node< char > *xml_node)

Protected Member Functions
	Block (World *parent)

Protected Attributes
size_t	m_block_index

std::string	m_name
	User-supplied name of the block (e.g. "r1", "veh1") More...

Protected Attributes inherited from mvsim::VisualObject
World *	m_world

Detailed Description

A non-vehicle "actor" for the simulation, typically obstacle blocks.

Definition at line 38 of file Block.h.

Constructor & Destructor Documentation

Block::Block ( World * parent )

protected

Definition at line 45 of file Block.cpp.

Member Function Documentation

void Block::apply_force	(	double	fx,
		double	fy,
		double	local_ptx = `0.0`,
		double	local_pty = `0.0`
	)

virtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented from mvsim::Simulable.

Definition at line 432 of file Block.cpp.

void Block::create_multibody_system ( b2World * world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes

Create bodies, fixtures, etc. for the dynamical simulation

Definition at line 354 of file Block.cpp.

Block * Block::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

static

Class factory: Creates a block from XML description of type "<block>...</block>".

Class factory: Creates a vehicle from XML description of type "<vehicle>...</vehicle>".

Definition at line 114 of file Block.cpp.

Block * Block::factory	(	World *	parent,
		const std::string &	xml_text
	)

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 247 of file Block.cpp.

mrpt::math::TPoint2D mvsim::Block::getBlockCenterOfMass ( ) const

inline

In local coordinates.

Definition at line 71 of file Block.h.

size_t mvsim::Block::getBlockIndex ( ) const

inline

Get the block index in the World

Definition at line 103 of file Block.h.

const mrpt::math::TPolygon2D& mvsim::Block::getBlockShape ( ) const

inline

Get the 2D shape of the block, as set from the config file (only used for collision detection)

Definition at line 99 of file Block.h.

b2Body* mvsim::Block::getBox2DBlockBody ( )

inline

Definition at line 70 of file Block.h.

mrpt::poses::CPose2D Block::getCPose2D ( ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 286 of file Block.cpp.

virtual double mvsim::Block::getMass ( ) const

inlinevirtual

Get the block mass

Definition at line 69 of file Block.h.

virtual float mvsim::Block::getMaxBlockRadius ( ) const

inlinevirtual

Get (an approximation of) the max radius of the block, from its point of reference (in meters)

Definition at line 67 of file Block.h.

const std::string& mvsim::Block::getName ( ) const

inline

User-supplied name of the block (e.g. "block1")

Definition at line 96 of file Block.h.

const mrpt::math::TPose3D& mvsim::Block::getPose ( ) const

inline

Last time-step pose (of the ref. point, in global coords) (ground-truth)

Definition at line 76 of file Block.h.

const vec3& mvsim::Block::getVelocity ( ) const

inline

Last time-step velocity (of the ref. point, in global coords) (ground-truth)

Definition at line 90 of file Block.h.

vec3 Block::getVelocityLocal ( ) const

Last time-step velocity (of the ref. point, in local coords) (ground-truth)

Last time-step velocity (of the ref. point, in local coords)

Definition at line 275 of file Block.cpp.

void Block::gui_update ( mrpt::opengl::COpenGLScene & scene )

virtual

Must create a new object in the scene and/or update it according to the current state.

To be called at derived classes' gui_update()

Implements mvsim::VisualObject.

Definition at line 292 of file Block.cpp.

void Block::register_block_class ( const rapidxml::xml_node< char > * xml_node )

static

Register a new class of blocks from XML description of type "<block:class name='name'>...</block:class>".

Register a new class of vehicles from XML description of type "<vehicle:class name='name'>...</vehicle:class>".

Definition at line 93 of file Block.cpp.

void mvsim::Block::setBlockIndex ( size_t idx )

inline

Set the block index in the World

Definition at line 101 of file Block.h.

void mvsim::Block::setPose ( const mrpt::math::TPose3D & p ) const

inline

Manually override block pose (Use with caution!) (purposely set as "const")

Definition at line 81 of file Block.h.

void Block::simul_post_timestep ( const TSimulContext & context )

virtual

Override to do any required process right after the integration of dynamic equations for each timestep

Reimplemented from mvsim::Simulable.

Definition at line 273 of file Block.cpp.

void Block::simul_post_timestep_common ( const TSimulContext & context )

Gets the body dynamical state into q, dot{q}

Definition at line 69 of file Block.cpp.

void Block::simul_pre_timestep ( const TSimulContext & context )

virtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 270 of file Block.cpp.

Member Data Documentation

size_t mvsim::Block::m_block_index

protected

user-supplied index number: must be set/get'ed

Definition at line 114 of file Block.h.

std::string mvsim::Block::m_name

protected

User-supplied name of the block (e.g. "r1", "veh1")

Definition at line 113 of file Block.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation