The body interface describe the basic interface of some physical entity in the virtual world. That is as a minimum the body has a geometric description, and a material identity. More...

#include <Body.hpp>

Inherits Stateless.

Inherited by BeamBody, FixedBody, FixedLink, KinematicBody, Link, and RigidBody.

Public Types
enum	BodyEventType { MassChangedEvent }
	Types of events a body can emit. More...

typedef rw::core::Ptr< Body >	Ptr
	Smart pointer type for a Body.

typedef boost::function< void(BodyEventType)>	BodyChangedListener
	Defines a state changed listener. More...

typedef rw::core::Event< BodyChangedListener, BodyEventType >	BodyChangedEvent
	Type for body events.

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

Public Member Functions
virtual	~Body ()
	Destructor.

const std::string &	getName () const
	name of body which is the name of the BodyFrame More...

rw::kinematics::Frame *	getBodyFrame () const
	Returns the frame that the bodies dynamic variables are described relative to. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry (const rw::kinematics::State &state)
	Get all geometry associated with this body. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry ()
	Get all geometry associated with this body. More...

const std::vector< rw::kinematics::Frame * > &	getFrames ()
	gets all frames that is staticly connected to this Body More...

const BodyInfo &	getInfo () const
	get the body info More...

BodyInfo &	getInfo ()
	retrieve body information More...

const std::string &	getMaterialID () const
	Material identifier of this object. More...

const rw::math::InertiaMatrix &	getInertia () const
	get the inertia matrix of this body. The inertia is described around the center of mass and relative to the parent frame. More...

BodyChangedEvent &	changedEvent ()
	Returns StateChangeEvent needed for subscribing and firing the event. More...

void	setMass (double m)
	Set the mass of the body. More...

void	setMass (double m, const rw::math::InertiaMatrix<> &inertia)
	Set the mass and inertia of the body. More...

void	setMass (double m, const rw::math::InertiaMatrix<> &inertia, const rw::math::Vector3D<> &com)
	Set the mass, inertia and center of mass of the body. More...

void	setObject (rw::models::Object::Ptr obj)
	Replaces object belonging to the body. More...

virtual rw::math::Vector3D	getPointVelW (const rw::math::Vector3D<> &p, const rw::kinematics::State &state) const
	calculates the relative velocity of a point p on the body described in world frames.

virtual rw::math::VelocityScrew6D	getVelocity (const rw::kinematics::State &state) const =0
	gets the velocity of this body relative to the parent frame More...

virtual rw::math::Vector3D	getLinVel (const rw::kinematics::State &state) const
	returns the linear velocity described in parent frame

virtual rw::math::Vector3D	getAngVel (const rw::kinematics::State &state) const
	returns the angular velocity described in parent frame

rw::math::Vector3D	getLinVelW (const rw::kinematics::State &state) const
	returns the linear velocity described in world frame

rw::math::Vector3D	getAngVelW (const rw::kinematics::State &state) const
	returns the angular velocity described in world frame

virtual void	reset (rw::kinematics::State &state)=0
	reset the state variables of this body

virtual double	calcEnergy (const rw::kinematics::State &state, const rw::math::Vector3D<> &gravity=rw::math::Vector3D<>::zero(), const rw::math::Vector3D<> &potZero=rw::math::Vector3D<>::zero()) const =0
	Calculates the total energy of the body. More...

virtual void	setForce (const rw::math::Vector3D<> &f, rw::kinematics::State &state)=0
	Sets the force described in parent frame acting on the center mass of this body.

virtual rw::math::Vector3D	getForce (const rw::kinematics::State &state) const =0
	Gets the force described in parent frame acting on the center mass of this body.

virtual void	addForce (const rw::math::Vector3D<> &force, rw::kinematics::State &state)=0
	Adds a force described in parent frame to the center of mass of this body.

virtual void	setTorque (const rw::math::Vector3D<> &t, rw::kinematics::State &state)=0
	set the torque of this body with torque t, where t is described in body frame

virtual void	addTorque (const rw::math::Vector3D<> &t, rw::kinematics::State &state)=0
	Adds a force described in parent frame to the center of mass of this body.

virtual rw::math::Vector3D	getTorque (const rw::kinematics::State &state) const =0
	returns torque described in body frame

virtual rw::kinematics::Frame *	getParentFrame (const rw::kinematics::State &state) const
	Get the parent frame of this body. More...

virtual void	setForceW (const rw::math::Vector3D<> &f, rw::kinematics::State &state)
	Sets the force described in world frame acting on the center mass of this body. More...

virtual rw::math::Vector3D	getForceW (const rw::kinematics::State &state) const
	Gets the force described in world frame acting on the center mass of this body.

virtual void	addForceW (const rw::math::Vector3D<> &force, rw::kinematics::State &state)
	Adds a force described in world frame to the center of mass of this body.

void	addForceToPos (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos, rw::kinematics::State &state)
	Adds a force described in parent frame to this body which is working on a specific position pos that is described relative to this body.

virtual void	addForceWToPosW (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos, rw::kinematics::State &state)
	Adds a force described in world frame to this body which is worked on a specific position pos that is described relative to world.

virtual void	setTorqueW (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	set the torque of this body with torque t, where t is described in world frame

virtual void	addTorqueW (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	Add a torque to the body. More...

virtual rw::math::Vector3D	getTorqueW (const rw::kinematics::State &state) const
	returns torque described in world frame

virtual rw::math::Transform3D	getTransformW (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to world frame. More...

rw::math::Transform3D	pTbf (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to the body parent frame. More...

rw::math::Transform3D	pTcom (const rw::kinematics::State &state) const
	Get the current position of the body center of mass relative to the body parent frame. More...

rw::math::Transform3D	wTbf (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to world frame. More...

rw::math::Transform3D	wTcom (const rw::kinematics::State &state) const
	Get the current position of the body center of mass relative to the world frame. More...

rw::models::Object::Ptr	getObject () const
	Get the geometry information for the body. 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...

Public Attributes
BodyChangedEvent	_bodyChangedEvent
	The event where listeners can be registered.

Protected Member Functions
	Body (const BodyInfo &info, rw::models::Object::Ptr obj)
	Construct a new dynamic body. More...

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

Protected Attributes
BodyInfo	_info
	The dynamic parameters for the body.

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 body interface describe the basic interface of some physical entity in the virtual world. That is as a minimum the body has a geometric description, and a material identity.

The body interface is used to add impulses, calculate basic velocity stuff and saving/updating the velocity and position states.

Member Typedef Documentation

◆ BodyChangedListener

typedef boost::function<void(BodyEventType)> BodyChangedListener

Defines a state changed listener.

Listeners to this event is called when a change of the state occurs.

StateChangedListener describes the signature of a callback method.

Example usage in a plugin:

void MyPlugin::initialize()
{
    getRobWorkStudio()->stateChangedEvent().add(
        boost::bind(&MyPlugin::stateChangedListener, this, boost::arg<1>()), this);
}
 
void MyPlugin::stateChangedListener(const State& state)
{
...
}

Member Enumeration Documentation

◆ BodyEventType

enum BodyEventType

Types of events a body can emit.

Enumerator
MassChangedEvent	If mass, inertia or center of mass of a body is changed.

Constructor & Destructor Documentation

◆ Body()

Body	(	const BodyInfo &	info,
		rw::models::Object::Ptr	obj
	)

protected

Construct a new dynamic body.

Parameters

info	[in] general information about the dynamic properties of this body.
obj	[in] information about the body reference frame and geometry.

Member Function Documentation

◆ addTorqueW()

virtual void addTorqueW	(	const rw::math::Vector3D<> &	t,
		rw::kinematics::State &	state
	)

inlinevirtual

Add a torque to the body.

Parameters

t	[in] the torque to add, described in world frame.
state	[in] the state giving the current pose of the object relative to the world frame.

◆ calcEnergy()

virtual double calcEnergy	(	const rw::kinematics::State &	state,
		const rw::math::Vector3D<> &	gravity = `rw::math::Vector3D<>::zero()`,
		const rw::math::Vector3D<> &	potZero = `rw::math::Vector3D<>::zero()`
	)		const

pure virtual

Calculates the total energy of the body.

Parameters

state	[in] the state with position and velocity of the body.
gravity	[in] (optional) the gravity to use for calculation of potential energy if not specified, no potential energy is calculated.
potZero	[in] (optional) the zero point for calculation of potential energy.

Returns: the total energy of the body.

Implemented in RigidBody, Link, KinematicBody, FixedBody, and BeamBody.

◆ changedEvent()

BodyChangedEvent& changedEvent ( )

inline

Returns StateChangeEvent needed for subscribing and firing the event.

Returns: Reference to the StateChangedEvent

◆ getBodyFrame()

rw::kinematics::Frame* getBodyFrame ( ) const

inline

Returns the frame that the bodies dynamic variables are described relative to.

Returns: pointer to the body reference frame.

◆ getFrames()

const std::vector<rw::kinematics::Frame*>& getFrames ( )

inline

gets all frames that is staticly connected to this Body

Returns: list of frames

◆ getGeometry() [1/2]

const std::vector<rw::geometry::Geometry::Ptr>& getGeometry ( )

inline

Get all geometry associated with this body.

Returns: a vector of all geometries for the body.

Deprecated:: please use getGeometry(rw::kinematics::State&) instead.

◆ getGeometry() [2/2]

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

inline

Get all geometry associated with this body.

Parameters

state [in] the current state (for deformable bodies).

Returns: a vector of all geometries for the body.

◆ getInertia()

const rw::math::InertiaMatrix& getInertia ( ) const

inline

get the inertia matrix of this body. The inertia is described around the center of mass and relative to the parent frame.

Returns: the inertia matrix.

◆ getInfo() [1/2]

BodyInfo& getInfo ( )

inline

retrieve body information

Returns: the body information.

Note: changing this will not force a changed event.

◆ getInfo() [2/2]

const BodyInfo& getInfo ( ) const

inline

get the body info

Returns: the body info.

◆ getMaterialID()

const std::string& getMaterialID ( ) const

inline

Material identifier of this object.

Returns: the identifier.

◆ getName()

const std::string& getName ( ) const

inline

name of body which is the name of the BodyFrame

Returns: the name.

◆ getObject()

rw::models::Object::Ptr getObject ( ) const

inline

Get the geometry information for the body.

Returns: the object.

◆ getParentFrame()

virtual rw::kinematics::Frame* getParentFrame ( const rw::kinematics::State & state ) const

inlinevirtual

Get the parent frame of this body.

Parameters

state [in] the state.

Returns: a pointer to the parent frame.

◆ getTransformW()

virtual rw::math::Transform3D getTransformW ( const rw::kinematics::State & state ) const

inlinevirtual

Get the current position and orientation of the body frame relative to world frame.

Parameters

state [in] the state giving the current pose.

Returns: the pose of the body frame relative to the world frame.

◆ getVelocity()

virtual rw::math::VelocityScrew6D getVelocity ( const rw::kinematics::State & state ) const

pure virtual

gets the velocity of this body relative to the parent frame

Parameters

state

Returns

Implemented in RigidBody, Link, KinematicBody, and FixedBody.

◆ pTbf()

rw::math::Transform3D pTbf ( const rw::kinematics::State & state ) const

inline

Get the current position and orientation of the body frame relative to the body parent frame.

Parameters

state [in] the state giving the current pose.

Returns: the pose of the body frame relative to the body parent frame.

◆ pTcom()

rw::math::Transform3D pTcom ( const rw::kinematics::State & state ) const

inline

Get the current position of the body center of mass relative to the body parent frame.

Parameters

state [in] the state giving the current pose.

Returns: the position of the body center of mass relative to the body parent frame.

◆ setForceW()

virtual void setForceW	(	const rw::math::Vector3D<> &	f,
		rw::kinematics::State &	state
	)

inlinevirtual

Sets the force described in world frame acting on the center mass of this body.

Note: more efficient to use setForce()

◆ setMass() [1/3]

void setMass ( double m )

inline

Set the mass of the body.

Note: a BodyChangedEvent is fired.

Parameters

m	[in] the new mass of the body.

◆ setMass() [2/3]

void setMass	(	double	m,
		const rw::math::InertiaMatrix<> &	inertia
	)

inline

Set the mass and inertia of the body.

Note: a BodyChangedEvent is fired.

Parameters

m	[in] the new mass of the body.
inertia	[in] the new inertia of the body.

◆ setMass() [3/3]

void setMass	(	double	m,
		const rw::math::InertiaMatrix<> &	inertia,
		const rw::math::Vector3D<> &	com
	)

inline

Set the mass, inertia and center of mass of the body.

Note: a BodyChangedEvent is fired.

Parameters

m	[in] the new mass of the body.
inertia	[in] the new inertia of the body.
com	[in] the new center of mass.

◆ setObject()

void setObject ( rw::models::Object::Ptr obj )

Replaces object belonging to the body.

Geometry is replaced.

Warning: BodyInfo is not changed! This has to be done manually.

Todo:: Make BodyInfo adjust automatically.

Parameters

obj	[in] the new object.

◆ wTbf()

rw::math::Transform3D wTbf ( const rw::kinematics::State & state ) const

inline

Get the current position and orientation of the body frame relative to world frame.

Parameters

state [in] the state giving the current pose.

Returns: the pose of the body frame relative to the world frame.

Note: This is equivalent to getTransformW()

◆ wTcom()

rw::math::Transform3D wTcom ( const rw::kinematics::State & state ) const

inline

Get the current position of the body center of mass relative to the world frame.

Parameters

state [in] the state giving the current pose.

Returns: the position of the body center of mass relative to the world frame.

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

Body.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BodyChangedListener

Member Enumeration Documentation

◆ BodyEventType

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ addTorqueW()

◆ calcEnergy()

◆ changedEvent()

◆ getBodyFrame()

◆ getFrames()

◆ getGeometry() [1/2]

◆ getGeometry() [2/2]

◆ getInertia()

◆ getInfo() [1/2]

◆ getInfo() [2/2]

◆ getMaterialID()

◆ getName()

◆ getObject()

◆ getParentFrame()

◆ getTransformW()

◆ getVelocity()

◆ pTbf()

◆ pTcom()

◆ setForceW()

◆ setMass() [1/3]

◆ setMass() [2/3]

◆ setMass() [3/3]

◆ setObject()

◆ wTbf()

◆ wTcom()