The deformable object is an object that contain a deformable mesh. Deformations are part of the state object and they are modeled/controlled through control nodes. each control node correspond to a vertice in the mesh. All vertices are described relative to the base frame of the object. More...

#include <DeformableObject.hpp>

Inherits Object.

Classes
class	DeformableObjectCache

Public Types
typedef rw::core::Ptr< DeformableObject >	Ptr
	smart pointer type

Public Types inherited from Object
typedef rw::core::Ptr< Object >	Ptr
	smart pointer

typedef rw::core::Ptr< const Object >	CPtr
	const smart pointer

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	DeformableObject (rw::core::Ptr< rw::kinematics::Frame > baseframe, int nr_of_nodes)
	constructor - constructs a deformable mesh with a specific number of control nodes and without any faces. Both geometry and model are created based on nodes. More...

	DeformableObject (rw::core::Ptr< rw::kinematics::Frame > baseframe, rw::core::Ptr< rw::geometry::Model3D > model)
	constructor - control nodes are taken as vertices in the Model3D. Vertices that are equal are merged into the same control node. All faces of the model are used to define faces of the deformable object. More...

	DeformableObject (rw::core::Ptr< rw::kinematics::Frame > baseframe, rw::core::Ptr< rw::geometry::Geometry > geom)
	constructor - control nodes are taken from a triangle mesh generated from triangulating the geometry. Vertices that are equal are merged into the same control node. All faces of the geometry are used to define faces of the deformable object. More...

virtual	~DeformableObject ()
	destructor

rw::math::Vector3D< float > &	getNode (int id, rw::kinematics::State &state) const
	get a specific node from the state More...

const rw::math::Vector3D< float > &	getNode (int id, const rw::kinematics::State &state) const
	get a specific node from the state More...

void	setNode (int id, const rw::math::Vector3D< float > &v, rw::kinematics::State &state)
	set the value of a specific node in the state. More...

size_t	getNrNodes (const rw::kinematics::State &state) const
	get the number of controlling nodes of this deformable object. More...

size_t	getNrNodes () const
	get the number of controlling nodes of this deformable object. More...

const std::vector< rw::geometry::IndexedTriangle<> > &	getFaces () const
	get all faces of this soft body More...

void	addFace (unsigned int node1, unsigned int node2, unsigned int node3)
	add a face to three existing nodes More...

rw::geometry::IndexedTriMesh< float >::Ptr	getMesh (rw::kinematics::State &cstate)
	return a triangle mesh representing the softbody in the current state cstate More...

double	getMass (const rw::kinematics::State &state) const
	get mass in Kg of this object More...

rw::math::Vector3D< double >	getCOM (const rw::kinematics::State &state) const
	get center of mass of this object More...

rw::math::InertiaMatrix	getInertia (const rw::kinematics::State &state) const
	returns the inertia matrix of this body calculated around COM with the orientation of the base frame. More...

void	update (rw::core::Ptr< rw::geometry::Model3D > model, const rw::kinematics::State &state)
	updates the model with the current state of the deformable model More...

Public Member Functions inherited from Object
virtual	~Object ()
	destructor

const std::string &	getName ()
	get name of this object. Name is always the same as the name of the base frame. More...

rw::kinematics::Frame *	getBase ()
	get base frame of this object More...

const rw::kinematics::Frame *	getBase () const
	get base frame of this object More...

const std::vector< rw::kinematics::Frame * > &	getFrames ()
	get all associated frames of this object More...

void	addFrame (rw::core::Ptr< rw::kinematics::Frame > frame)
	associate a frame to this Object. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry () const
	get default geometries More...

const std::vector< rw::geometry::Model3D::Ptr > &	getModels () const
	get the default models More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry (const rw::kinematics::State &state) const
	get geometry of this object More...

const std::vector< rw::geometry::Model3D::Ptr > &	getModels (const rw::kinematics::State &state) const
	get visualization models of this object More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Protected Member Functions
const std::vector< rw::core::Ptr< rw::geometry::Geometry > > &	doGetGeometry (const rw::kinematics::State &state) const
	get geometry of this object More...

const std::vector< rw::core::Ptr< rw::geometry::Model3D > > &	doGetModels (const rw::kinematics::State &state) const
	get visualization models of this object More...

Protected Member Functions inherited from Object
	Object (rw::core::Ptr< rw::kinematics::Frame > baseframe)
	constructor

	Object (std::vector< rw::kinematics::Frame * > frames)
	constructor - first frame is base

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Friends
class	WorkCell

Additional Inherited Members
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

The deformable object is an object that contain a deformable mesh. Deformations are part of the state object and they are modeled/controlled through control nodes. each control node correspond to a vertice in the mesh. All vertices are described relative to the base frame of the object.

Constructor & Destructor Documentation

◆ DeformableObject() [1/3]

DeformableObject	(	rw::core::Ptr< rw::kinematics::Frame >	baseframe,
		int	nr_of_nodes
	)

constructor - constructs a deformable mesh with a specific number of control nodes and without any faces. Both geometry and model are created based on nodes.

Parameters

baseframe	[in] base frame of object
nr_of_nodes	[in] the number of controlling nodes in the deformable object

◆ DeformableObject() [2/3]

DeformableObject	(	rw::core::Ptr< rw::kinematics::Frame >	baseframe,
		rw::core::Ptr< rw::geometry::Model3D >	model
	)

constructor - control nodes are taken as vertices in the Model3D. Vertices that are equal are merged into the same control node. All faces of the model are used to define faces of the deformable object.

geometry will be created based on model information

Note: only triangle faces are currently supported.

Parameters

baseframe	[in] base frame of object
model	[in]

◆ DeformableObject() [3/3]

DeformableObject	(	rw::core::Ptr< rw::kinematics::Frame >	baseframe,
		rw::core::Ptr< rw::geometry::Geometry >	geom
	)

constructor - control nodes are taken from a triangle mesh generated from triangulating the geometry. Vertices that are equal are merged into the same control node. All faces of the geometry are used to define faces of the deformable object.

model will be created based on geometry information

Parameters

baseframe	[in] base frame of object
geom	[in] geometry to define the faces and nodes

Member Function Documentation

◆ addFace()

void addFace	(	unsigned int	node1,
		unsigned int	node2,
		unsigned int	node3
	)

add a face to three existing nodes

Parameters

node1	[in] idx of node 1
node2	[in] idx of node 2
node3	[in] idx of node 3

◆ doGetGeometry()

const std::vector<rw::core::Ptr<rw::geometry::Geometry> >& doGetGeometry ( const rw::kinematics::State & state ) const

protectedvirtual

get geometry of this object

Returns: geometry for collision detection.

Implements Object.

◆ doGetModels()

const std::vector<rw::core::Ptr<rw::geometry::Model3D> >& doGetModels ( const rw::kinematics::State & state ) const

protectedvirtual

get visualization models of this object

Returns: models for visualization

Implements Object.

◆ getCOM()

rw::math::Vector3D<double> getCOM ( const rw::kinematics::State & state ) const

virtual

get center of mass of this object

Parameters

state [in] the state in which to get center of mass

Returns: Position of COM

Implements Object.

◆ getFaces()

const std::vector<rw::geometry::IndexedTriangle<> >& getFaces ( ) const

get all faces of this soft body

Returns: list of indexed triangles - indeces point to vertices/nodes

◆ getInertia()

rw::math::InertiaMatrix getInertia ( const rw::kinematics::State & state ) const

virtual

returns the inertia matrix of this body calculated around COM with the orientation of the base frame.

Parameters

state [in] the state to get the inertia in

Returns: matrix with inertia

Implements Object.

◆ getMass()

double getMass ( const rw::kinematics::State & state ) const

virtual

get mass in Kg of this object

Parameters

state [in] the state

Returns: mass in kilo grams

Implements Object.

◆ getMesh()

rw::geometry::IndexedTriMesh<float>::Ptr getMesh ( rw::kinematics::State & cstate )

return a triangle mesh representing the softbody in the current state cstate

Parameters

cstate

◆ getNode() [1/2]

const rw::math::Vector3D<float>& getNode	(	int	id,
		const rw::kinematics::State &	state
	)		const

get a specific node from the state

Parameters

id	[in] id of the node to fetch
state	[in] current state

Returns: handle to manipulate a node in the given state.

◆ getNode() [2/2]

rw::math::Vector3D<float>& getNode	(	int	id,
		rw::kinematics::State &	state
	)		const

get a specific node from the state

Parameters

id	[in] id of the node to fetch
state	[in] current state

Returns: handle to manipulate a node in the given state.

◆ getNrNodes() [1/2]

size_t getNrNodes ( ) const

get the number of controlling nodes of this deformable object.

Returns: Number of Nodes

◆ getNrNodes() [2/2]

size_t getNrNodes ( const rw::kinematics::State & state ) const

get the number of controlling nodes of this deformable object.

Parameters

state [in]

Returns: Number of Nodes

◆ setNode()

void setNode	(	int	id,
		const rw::math::Vector3D< float > &	v,
		rw::kinematics::State &	state
	)

set the value of a specific node in the state.

Parameters

id	[in] id of the node
v	[in] value to set.
state	[in] state in which to set the value.

◆ update()

void update	(	rw::core::Ptr< rw::geometry::Model3D >	model,
		const rw::kinematics::State &	state
	)

updates the model with the current state of the deformable model

Parameters

model	[in/out] model to be updated
state

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

DeformableObject.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DeformableObject() [1/3]

◆ DeformableObject() [2/3]

◆ DeformableObject() [3/3]

Member Function Documentation

◆ addFace()

◆ doGetGeometry()

◆ doGetModels()

◆ getCOM()

◆ getFaces()

◆ getInertia()

◆ getMass()

◆ getMesh()

◆ getNode() [1/2]

◆ getNode() [2/2]

◆ getNrNodes() [1/2]

◆ getNrNodes() [2/2]

◆ setNode()

◆ update()