ODELink Class Reference

ODE Link class. More...

#include <ODELink.hh>

Inheritance diagram for ODELink:

List of all members.

Public Member Functions
	ODELink (EntityPtr parent)
	Constructor.
virtual	~ODELink ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load the link based on SDF parameters.
virtual void	Init ()
	Initialize the link.
virtual void	Fini ()
	Finalize the link.
virtual void	Update ()
	Update the link.
virtual void	OnPoseChange ()
	Called when the pose of the entity (or one of its parents) has changed.
dBodyID	GetODEId () const
	Return the ID of this link.
virtual void	SetEnabled (bool enable) const
	Set whether this link is enabled.
virtual bool	GetEnabled () const
	Get whether this link is enabled in the physics engine.
virtual void	UpdateMass ()
	Update the mass matrix.
virtual void	SetLinearVel (const math::Vector3 &vel)
	Set the linear velocity of the link.
virtual void	SetAngularVel (const math::Vector3 &vel)
	Set the angular velocity of the link.
virtual void	SetForce (const math::Vector3 &_force)
	Set the force applied to the link.
virtual void	SetTorque (const math::Vector3 &_torque)
	Set the torque applied to the link.
virtual void	AddForce (const math::Vector3 &_force)
	Add a force to the body.
virtual void	AddRelativeForce (const math::Vector3 &_force)
	Add a force to the body.
virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relpos)
	Set the force applied to the body (add by Stefano)
virtual void	AddTorque (const math::Vector3 &_torque)
	Add a torque to the body.
virtual void	AddRelativeTorque (const math::Vector3 &_torque)
	Add a torque to the body relative frame.
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the link in the world frame.
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the link in the world frame.
virtual math::Vector3	GetWorldForce () const
	Get the force applied to the link in the world frame.
virtual math::Vector3	GetWorldTorque () const
	Get the torque applied to the link in the world frame.
virtual void	SetGravityMode (bool mode)
	Set whether gravity affects this link.
virtual bool	GetGravityMode ()
	Get the gravity mode.
void	SetSelfCollide (bool collide)
	Set whether this link will collide with others in the model.
dSpaceID	GetSpaceId () const
	Get the link's space ID.
void	SetSpaceId (dSpaceID spaceid)
	Set the link's space ID.
virtual void	SetLinearDamping (double damping)
	Set the linear damping factor.
virtual void	SetAngularDamping (double damping)
	Set the angular damping factor.
virtual void	SetKinematic (const bool &state)
	Set whether this link is in the kinematic state.
virtual bool	GetKinematic () const
	Get whether this link is in the kinematic state.
Static Public Member Functions
static void	MoveCallback (dBodyID id)
Protected Attributes
math::Pose	pose

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Detailed Description

ODE Link class.

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Member Function Documentation

dBodyID GetODEId

(

)

const

Return the ID of this link.

Returns:

ODE link id

virtual void Load

(

sdf::ElementPtr &

_sdf

)

[virtual]

Load the link based on SDF parameters.

Parameters:

_sdf	the sdf parameters

Reimplemented from Link.

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

• ODELink.hh