Link Class Reference

Link class. More...

#include <Link.hh>

Inheritance diagram for Link:

List of all members.

Public Member Functions
	Link (EntityPtr parent)
	Constructor.
virtual	~Link ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load the body based on an SDF element.
virtual void	Init ()
	Initialize the body.
void	Fini ()
	Finalize the body.
void	Reset ()
virtual void	UpdateParameters (sdf::ElementPtr &_sdf)
	Update the parameters using new sdf values.
virtual void	Update ()
	Update the body.
virtual void	SetEnabled (bool enable) const =0
	Set whether this body is enabled.
virtual bool	GetEnabled () const =0
	Get whether this body is enabled in the physics engine.
virtual bool	SetSelected (bool s)
	Set whether this entity has been selected by the user through the gui.
virtual void	SetGravityMode (bool mode)=0
	Set whether gravity affects this body.
virtual bool	GetGravityMode ()=0
	Get the gravity mode.
virtual void	SetSelfCollide (bool collide)=0
	Set whether this body will collide with others in the model.
void	SetCollideMode (const std::string &m)
	Set the collide mode of the body.
bool	GetSelfCollide ()
	Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent.
void	SetLaserRetro (float retro)
	Set the laser retro reflectiveness.
virtual void	SetLinearVel (const math::Vector3 &vel)=0
	Set the linear velocity of the body.
virtual void	SetAngularVel (const math::Vector3 &vel)=0
	Set the angular velocity of the body.
void	SetLinearAccel (const math::Vector3 &accel)
	Set the linear acceleration of the body.
void	SetAngularAccel (const math::Vector3 &accel)
	Set the angular acceleration of the body.
virtual void	SetForce (const math::Vector3 &_force)=0
	Set the force applied to the body.
virtual void	SetTorque (const math::Vector3 &_force)=0
	Set the torque applied to the body.
virtual void	AddForce (const math::Vector3 &_force)=0
	Add a force to the body.
virtual void	AddRelativeForce (const math::Vector3 &_force)=0
	Add a force to the body, components are relative to the body's own frame of reference.
virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relpos)=0
	Add a force to the body at position expressed to the body's own frame of reference.
virtual void	AddTorque (const math::Vector3 &_torque)=0
	Add a torque to the body.
virtual void	AddRelativeTorque (const math::Vector3 &_torque)=0
	Add a torque to the body, components are relative to the body's own frame of reference.
math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body.
math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body.
math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body.
math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame.
math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body.
math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame.
math::Vector3	GetRelativeForce () const
	Get the force applied to the body.
virtual math::Vector3	GetWorldForce () const =0
	Get the force applied to the body in the world frame.
math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body.
virtual math::Vector3	GetWorldTorque () const =0
	Get the torque applied to the body in the world frame.
ModelPtr	GetModel () const
	Get the model that this body belongs to.
InertialPtr	GetInertial () const
	Get the mass of the body.
void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the body.
virtual void	UpdateMass ()
CollisionPtr	GetCollisionById (unsigned int _id) const
	Get a collision by id.
CollisionPtr	GetCollision (const std::string &name)
	accessor for collisions
virtual math::Box	GetBoundingBox () const
	Get the size of the body.
virtual void	SetLinearDamping (double damping)=0
	Set the linear damping factor.
virtual void	SetAngularDamping (double damping)=0
	Set the angular damping factor.
virtual void	SetKinematic (const bool &)
	Set whether this body is in the kinematic state.
virtual bool	GetKinematic () const
	Get whether this body is in the kinematic state.
unsigned int	GetSensorCount () const
	Get sensor count.
std::string	GetSensorName (unsigned int _i) const
	Get sensor name.
template<typename T >
event::ConnectionPtr	ConnectEnabled (T subscriber)
	Connect a to the add entity signal.
void	DisconnectEnabled (event::ConnectionPtr &c)
void	FillLinkMsg (msgs::Link &_msg)
	Fill a link message.
void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message.
void	AddChildJoint (JointPtr joint)
	Joints that have this Link as a parent Link.
void	AddParentJoint (JointPtr joint)
	Joints that have this Link as a child Link.
void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link.
void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link.
virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed.
Protected Attributes
bool	isStatic
InertialPtr	inertial
std::vector< std::string >	cgVisuals
std::vector< std::string >	visuals
math::Vector3	linearAccel
math::Vector3	angularAccel
math::Pose	newPose
std::vector< math::Pose >	attachedModelsOffset

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Detailed Description

Link class.

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Member Function Documentation

virtual void AddForceAtRelativePosition	(	const math::Vector3 &	_force,
		const math::Vector3 &	_relpos
	)		[pure virtual]

Add a force to the body at position expressed to the body's own frame of reference.

Implemented in ODELink.

virtual void AddRelativeForce

(

const math::Vector3 &

_force

)

[pure virtual]

Add a force to the body, components are relative to the body's own frame of reference.

Implemented in ODELink.

virtual void AddRelativeTorque

(

const math::Vector3 &

_torque

)

[pure virtual]

Add a torque to the body, components are relative to the body's own frame of reference.

Implemented in ODELink.

void FillLinkMsg

(

msgs::Link &

_msg

)

Fill a link message.

Parameters:

_msg	Message to fill

CollisionPtr GetCollisionById

(

unsigned int

_id

)

const

Get a collision by id.

Returns:

Pointer to the collision

bool GetSelfCollide

(

)

Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent.

virtual void Load

(

sdf::ElementPtr &

_sdf

)

[virtual]

Load the body based on an SDF element.

Parameters:

_sdf	SDF parameters

Reimplemented from Entity.

Reimplemented in ODELink.

void ProcessMsg

(

const msgs::Link &

_msg

)

Update parameters from a message.

Parameters:

_msg	Message to read

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

• Link.hh