/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/body.cpp File Reference

Implements the body class hierarchy. More...

#include <cmath>
#include <fstream>
#include <iostream>
#include <iomanip>
#include <sstream>
#include <vector>
#include <QFile>
#include <QString>
#include <QTextStream>
#include "body.h"
#include "collisionInterface.h"
#include "collisionStructures.h"
#include <QMutex>
#include <QThreadStorage>
#include "bBox.h"
#include "matvec3D.h"
#include "mytools.h"
#include "world.h"
#include "robot.h"
#include "joint.h"
#include <map>
#include "ivmgr.h"
#include "contact.h"
#include "graspitGUI.h"
#include "tinyxml.h"
#include <Inventor/SoDB.h>
#include <Inventor/SoInput.h>
#include <Inventor/actions/SoGetBoundingBoxAction.h>
#include <Inventor/actions/SoSearchAction.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoCoordinate3.h>
#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoCube.h>
#include <Inventor/nodes/SoIndexedFaceSet.h>
#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/VRMLnodes/SoVRMLMaterial.h>
#include <Inventor/VRMLnodes/SoVRMLAppearance.h>
#include <Inventor/VRMLnodes/SoVRMLShape.h>
#include <Inventor/nodes/SoPickStyle.h>
#include <Inventor/nodes/SoSwitch.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoTranslation.h>
#include <Inventor/draggers/SoRotateDiscDragger.h>
#include <Inventor/nodekits/SoWrapperKit.h>
#include <Inventor/SoPrimitiveVertex.h>
#include <Inventor/actions/SoCallbackAction.h>
#include <Inventor/VRMLnodes/SoVRMLGroup.h>
#include <Inventor/actions/SoWriteAction.h>
#include "debug.h"

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Classes
struct	GetCoord
	Integrable functor for computing triangle area. More...
struct	GetCovar
	Integrable functor for computing the covariance matrix. More...
Defines
#define	AXES_SCALE   100.0
#define	CUBE(x)   ((x)*(x)*(x))
#define	SQR(x)   ((x)*(x))
Functions
void	addTriangleCallBack (void *info, SoCallbackAction *action, const SoPrimitiveVertex *v1, const SoPrimitiveVertex *v2, const SoPrimitiveVertex *v3)
void	addVertexCallBack (void *info, SoCallbackAction *action, const SoPrimitiveVertex *v1)
void	addVerticesFromTriangleCallBack (void *info, SoCallbackAction *action, const SoPrimitiveVertex *v1, const SoPrimitiveVertex *v2, const SoPrimitiveVertex *v3)
int	computeDefaultCoG (std::vector< Triangle > &triangles, position &defaultCoG)
template<class IntegrableFunction >
float	Gaussian7Integrate (const Triangle &triangle, IntegrableFunction integrable_function)
bool	GetOffLine (ifstream *file, istringstream *line)
	Helper for loadGeometryOff.
int	OFFReadFailure ()
	Helper for loadGeometryOFF.
QTextStream &	operator<< (QTextStream &os, const GraspableBody &gb)
QTextStream &	operator<< (QTextStream &os, const Body &b)

---

Detailed Description

Implements the body class hierarchy.

Definition in file body.cpp.

---

Define Documentation

#define AXES_SCALE   100.0

Definition at line 96 of file body.cpp.

#define CUBE

(

x

)

((x)*(x)*(x))

Definition at line 95 of file body.cpp.

#define SQR

(

x

)

((x)*(x))

Definition at line 94 of file body.cpp.

---

Function Documentation

void addTriangleCallBack	(	void *	info,
		SoCallbackAction *	action,
		const SoPrimitiveVertex *	v1,
		const SoPrimitiveVertex *	v2,
		const SoPrimitiveVertex *	v3
	)

Helper callback for generating list of body triangles

Definition at line 1130 of file body.cpp.

void addVertexCallBack	(	void *	info,
		SoCallbackAction *	action,
		const SoPrimitiveVertex *	v1
	)

Helper callback for generating list of body vertices

Definition at line 1156 of file body.cpp.

void addVerticesFromTriangleCallBack	(	void *	info,
		SoCallbackAction *	action,
		const SoPrimitiveVertex *	v1,
		const SoPrimitiveVertex *	v2,
		const SoPrimitiveVertex *	v3
	)

Helper callback for generating list of body vertices

Definition at line 1168 of file body.cpp.

int computeDefaultCoG	(	std::vector< Triangle > &	triangles,
		position &	defaultCoG
	)

A different version for computing the cog of an object based on the surface triangles. Used as a fallback when the other version fails. Courtesy of Corey Goldfeder.

Definition at line 1774 of file body.cpp.

template<class IntegrableFunction >

float Gaussian7Integrate	(	const Triangle &	triangle,
		IntegrableFunction	integrable_function
	)			[inline]

Helper function for computing cog and inertia matrix. Integrates a pointwise function over the surface of a triangle using 7-point Gaussian integration.

Definition at line 1710 of file body.cpp.

bool GetOffLine	(	ifstream *	file,
		istringstream *	line
	)

Helper for loadGeometryOff.

Strips off leading whitespace and comments

Definition at line 442 of file body.cpp.

int OFFReadFailure

(

)

Helper for loadGeometryOFF.

Definition at line 459 of file body.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const GraspableBody &	gb
	)

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

Definition at line 2279 of file body.cpp.

QTextStream& operator<<	(	QTextStream &	os,
		const Body &	b
	)

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

Definition at line 1121 of file body.cpp.