Logging for forces and torques. More...

#include <LogForceTorque.hpp>

Inherited by LogConstraintForceTorque, and LogContactForceTorque.

Public Types
typedef rw::core::Ptr< LogForceTorque >	Ptr
	Smart pointer type of LogForceTorque.

Public Types inherited from SimulatorLogEntry
typedef rw::core::Ptr< SimulatorLogEntry >	Ptr
	Smart pointer type of SimulatorLogEntry.

Public Types inherited from SimulatorLog
typedef rw::core::Ptr< SimulatorLog >	Ptr
	Smart pointer type of SimulatorLog.

typedef rw::core::Ptr< const SimulatorLog >	CPtr
	Smart pointer type of const SimulatorLog.

Public Member Functions
	LogForceTorque (SimulatorLogScope *parent)
	Constructor. More...

virtual	~LogForceTorque ()
	Destructor.

virtual void	read (class rw::common::InputArchive &iarchive, const std::string &id)

virtual void	write (class rw::common::OutputArchive &oarchive, const std::string &id) const

virtual std::string	getType () const =0
	Get a textual representation of the type of the item. More...

virtual bool	operator== (const SimulatorLog &b) const
	Check if logs are identical. More...

virtual std::list< SimulatorLogEntry::Ptr >	getLinkedEntries () const =0
	Get a list of other entries that this entry is linked to. More...

virtual bool	autoLink ()=0
	Do automatic linking to other entries. More...

virtual SimulatorLogEntry::Ptr	createNew (SimulatorLogScope *parent) const =0
	Create a new entry of the same type (no data is copied). More...

virtual int	sizeLinkedEntry () const =0
	Get the size of the linked entry (if any). More...

virtual const std::string &	getNameA (std::size_t i) const =0
	Get name of the first object. More...

virtual const std::string &	getNameB (std::size_t i) const =0
	Get name of the second object. More...

virtual rw::math::Vector3D	getPositionA (std::size_t i) const =0
	Get anchor position on the first object. More...

virtual rw::math::Vector3D	getPositionB (std::size_t i) const =0
	Get anchor position on the second object. More...

rw::math::Wrench6D	getWrenchBodyA (std::size_t i) const
	Get the contact wrench acting at the first body. More...

rw::math::Wrench6D	getWrenchBodyB (std::size_t i) const
	Get the contact wrench acting at the second body. More...

void	setWrench (std::size_t i, const rw::math::Wrench6D<> &wrenchA, const rw::math::Wrench6D<> &wrenchB)
	Set a given wrench pair. More...

Public Member Functions inherited from SimulatorLogEntry
	SimulatorLogEntry (SimulatorLogScope *parent)
	Constructor. More...

virtual	~SimulatorLogEntry ()
	Destructor.

virtual std::size_t	children () const
	Get the number of children under this log item. More...

virtual int	line () const
	Get the line number in the file where this entry was added. More...

virtual void	setLine (int line)
	Set the line number where this entry was added. More...

Public Member Functions inherited from SimulatorLog
	SimulatorLog (SimulatorLogScope *parent=NULL)
	Constructor. More...

virtual	~SimulatorLog ()
	Destructor.

virtual SimulatorLogScope *	getParent () const
	Get the parent of this log item. More...

virtual bool	operator!= (const SimulatorLog &b) const
	Check if logs are non-identical. More...

virtual std::string	getFilename () const
	Get the full filename with path for where this log entry was created. More...

virtual void	setFilename (const std::string &file)
	Set the name of the file where this log entry was created. More...

virtual void	setFilename (const char *file)
	Set the name of the file where this log entry was created. More...

virtual std::string	getDescription () const
	Get a string describing this entry. More...

virtual void	setDescription (const std::string &description)
	Set a very short description of this entry. More...

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

Detailed Description

Logging for forces and torques.

Constructor & Destructor Documentation

◆ LogForceTorque()

LogForceTorque ( SimulatorLogScope * parent )

Constructor.

Note: This item will not be added as a child to the parent scope using this constructor.

Parameters

parent the parent of this log item.

Member Function Documentation

◆ autoLink()

virtual bool autoLink ( )

pure virtual

Do automatic linking to other entries.

Returns: true if linking succeeded, false otherwise.

Implements SimulatorLogEntry.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ createNew()

virtual SimulatorLogEntry::Ptr createNew ( SimulatorLogScope * parent ) const

pure virtual

Create a new entry of the same type (no data is copied).

Parameters

parent the parent of the new entry.

Returns: the new entry.

Implements SimulatorLogEntry.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getLinkedEntries()

virtual std::list<SimulatorLogEntry::Ptr> getLinkedEntries ( ) const

pure virtual

Get a list of other entries that this entry is linked to.

Using linked entries makes it possible to avoid logging too much redundant information.

Returns: a list of linked entries.

Implements SimulatorLogEntry.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getNameA()

virtual const std::string& getNameA ( std::size_t i ) const

pure virtual

Get name of the first object.

Parameters

i	[in] the index.

Returns: the name or an empty string if not linked properly.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getNameB()

virtual const std::string& getNameB ( std::size_t i ) const

pure virtual

Get name of the second object.

Parameters

i	[in] the index.

Returns: the name or an empty string if not linked properly.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getPositionA()

virtual rw::math::Vector3D getPositionA ( std::size_t i ) const

pure virtual

Get anchor position on the first object.

Parameters

i	[in] the index.

Returns: the anchor point or zero if not linked.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getPositionB()

virtual rw::math::Vector3D getPositionB ( std::size_t i ) const

pure virtual

Get anchor position on the second object.

Parameters

i	[in] the index.

Returns: the anchor point or zero if not linked.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getType()

virtual std::string getType ( ) const

pure virtual

Get a textual representation of the type of the item.

Returns: the type of item as a string.

Implements SimulatorLogEntry.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ getWrenchBodyA()

rw::math::Wrench6D getWrenchBodyA ( std::size_t i ) const

Get the contact wrench acting at the first body.

Parameters

i	[in] the constraint to get wrench for.

Returns: the wrench.

◆ getWrenchBodyB()

rw::math::Wrench6D getWrenchBodyB ( std::size_t i ) const

Get the contact wrench acting at the second body.

Parameters

i	[in] the constraint to get wrench for.

Returns: the wrench.

◆ operator==()

virtual bool operator== ( const SimulatorLog & b ) const

virtual

Check if logs are identical.

Parameters

b	[in] other log to compare with.

Returns: true if identical, false otherwise.

Reimplemented from SimulatorLogEntry.

Reimplemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ read()

virtual void read	(	class rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

virtual

Enable read-serialization of inherited class by implementing this method. Data is read from iarchive and filled into this object.

Parameters

iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Reimplemented from SimulatorLogEntry.

◆ setWrench()

void setWrench	(	std::size_t	i,
		const rw::math::Wrench6D<> &	wrenchA,
		const rw::math::Wrench6D<> &	wrenchB
	)

Set a given wrench pair.

Parameters

i	[in] the constraint to set wrench for.
wrenchA	[in] the wrench acting in the constraint at the first body.
wrenchB	[in] the wrench acting in the constraint at the second body.

◆ sizeLinkedEntry()

virtual int sizeLinkedEntry ( ) const

pure virtual

Get the size of the linked entry (if any).

Returns: size of the linked entry or negative value if not linked.

Implemented in LogContactForceTorque, and LogConstraintForceTorque.

◆ write()

virtual void write	(	class rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)		const

virtual

Enable write-serialization of inherited class by implementing this method. Data is written to oarchive from this object.

Parameters

oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

Reimplemented from SimulatorLogEntry.

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

LogForceTorque.hpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LogForceTorque()

Member Function Documentation

◆ autoLink()

◆ createNew()

◆ getLinkedEntries()

◆ getNameA()

◆ getNameB()

◆ getPositionA()

◆ getPositionB()

◆ getType()

◆ getWrenchBodyA()

◆ getWrenchBodyB()

◆ operator==()

◆ read()

◆ setWrench()

◆ sizeLinkedEntry()

◆ write()