#include <Block.h>

Inheritance diagram for mvsim::DummyInvisibleBlock:

Public Types
using	Ptr = std::shared_ptr< DummyInvisibleBlock >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
void	add_sensor (const SensorBase::Ptr &sensor)

virtual void	apply_force ([[maybe_unused]] const mrpt::math::TVector2D &force, [[maybe_unused]] const mrpt::math::TPoint2D &applyPoint) override

virtual void	create_multibody_system (b2World &)

	DummyInvisibleBlock (World *parent)

virtual double	getMass () const

virtual float	getMaxBlockRadius () const

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

virtual mrpt::math::TPose3D	getRelativePose () const

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

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

static Ptr	factory (World *parent, const std::string &xml_text)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Protected Member Functions
void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, [[maybe_unused]] bool childrenOnly) override

void	registerOnServer (mvsim::Client &c) override

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Private Attributes
TListSensors	sensors_
	Sensors aboard. More...

Additional Inherited Members
Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Detailed Description

An invisible block which can be used as an auxiliary anchor object.

Definition at line 235 of file Block.h.

Member Typedef Documentation

◆ Ptr

using mvsim::DummyInvisibleBlock::Ptr = std::shared_ptr<DummyInvisibleBlock>

Definition at line 238 of file Block.h.

Constructor & Destructor Documentation

◆ DummyInvisibleBlock()

DummyInvisibleBlock::DummyInvisibleBlock ( World * parent )

Definition at line 431 of file Block.cpp.

Member Function Documentation

◆ add_sensor()

void mvsim::DummyInvisibleBlock::add_sensor ( const SensorBase::Ptr & sensor )

inline

Definition at line 273 of file Block.h.

◆ apply_force()

virtual void mvsim::DummyInvisibleBlock::apply_force	(	[[maybe_unused] ] const mrpt::math::TVector2D &	force,
		[[maybe_unused] ] const mrpt::math::TPoint2D &	applyPoint
	)

inlineoverridevirtual

Definition at line 260 of file Block.h.

◆ create_multibody_system()

virtual void mvsim::DummyInvisibleBlock::create_multibody_system ( b2World & )

inlinevirtual

Definition at line 266 of file Block.h.

◆ factory() [1/2]

static Ptr mvsim::DummyInvisibleBlock::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

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

◆ factory() [2/2]

static Ptr mvsim::DummyInvisibleBlock::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.

◆ getMass()

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

inlinevirtual

Get the block mass

Definition at line 271 of file Block.h.

◆ getMaxBlockRadius()

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

inlinevirtual

Definition at line 268 of file Block.h.

◆ internalGuiUpdate()

void DummyInvisibleBlock::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		[[maybe_unused] ] bool	childrenOnly
	)

overrideprotected

Definition at line 433 of file Block.cpp.

◆ registerOnServer()

void mvsim::DummyInvisibleBlock::registerOnServer ( mvsim::Client & c )

inlineoverrideprotectedvirtual

Reimplemented from mvsim::Simulable.

Definition at line 281 of file Block.h.

◆ simul_post_timestep()

virtual void mvsim::DummyInvisibleBlock::simul_post_timestep ( const TSimulContext & context )

inlineoverridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 254 of file Block.h.

◆ simul_pre_timestep()

virtual void mvsim::DummyInvisibleBlock::simul_pre_timestep ( const TSimulContext & context )

inlineoverridevirtual

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 249 of file Block.h.

Member Data Documentation

◆ sensors_

TListSensors mvsim::DummyInvisibleBlock::sensors_

private

Sensors aboard.

Definition at line 289 of file Block.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ DummyInvisibleBlock()

Member Function Documentation

◆ add_sensor()

◆ apply_force()

◆ create_multibody_system()

◆ factory() [1/2]

◆ factory() [2/2]

◆ getMass()

◆ getMaxBlockRadius()

◆ internalGuiUpdate()

◆ registerOnServer()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ sensors_