a body with a fixed position, zero velocity and zero force. More...

#include <FixedBody.hpp>

Inherits Body.

Public Types
typedef rw::core::Ptr< FixedBody >	Ptr
	Smart pointer type for a fixed body.

Public Types inherited from Body
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
	FixedBody (const BodyInfo &info, rw::models::Object::Ptr obj)
	Construct a new dynamic body. More...

virtual	~FixedBody ()
	destructor

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. More...

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

void	reset (rw::kinematics::State &state)
	reset the state variables of this body More...

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
	Calculates the total energy of the body. More...

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

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

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

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

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

rw::math::Vector3D	getTorque (const rw::kinematics::State &state) const
	returns torque described in body frame More...

Public Member Functions inherited from Body
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	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 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...

Additional Inherited Members
Public Attributes inherited from Body
BodyChangedEvent	_bodyChangedEvent
	The event where listeners can be registered.

Protected Member Functions inherited from Body
	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 inherited from Body
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

a body with a fixed position, zero velocity and zero force.

This body type is not allowed to move during simulation.

Constructor & Destructor Documentation

◆ FixedBody()

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

inline

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

◆ addForce()

void addForce	(	const rw::math::Vector3D<> &	force,
		rw::kinematics::State &	state
	)

inlinevirtual

Adds a force described in parent frame to the center of mass of this body.

Implements Body.

◆ addTorque()

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

inlinevirtual

Adds a force described in parent frame to the center of mass of this body.

Implements Body.

◆ calcEnergy()

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

inlinevirtual

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.

Implements Body.

◆ getForce()

rw::math::Vector3D getForce ( const rw::kinematics::State & state ) const

inlinevirtual

Gets the force described in parent frame acting on the center mass of this body.

Implements Body.

◆ getPointVelW()

virtual rw::math::Vector3D getPointVelW	(	const rw::math::Vector3D<> &	p,
		const rw::kinematics::State &	state
	)		const

inlinevirtual

calculates the relative velocity of a point p on the body described in world frames.

Reimplemented from Body.

◆ getTorque()

rw::math::Vector3D getTorque ( const rw::kinematics::State & state ) const

inlinevirtual

returns torque described in body frame

Implements Body.

◆ getVelocity()

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

inlinevirtual

gets the velocity of this body relative to the parent frame

Parameters

state

Returns

Implements Body.

◆ reset()

void reset ( rw::kinematics::State & state )

inlinevirtual

reset the state variables of this body

Implements Body.

◆ setForce()

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

inlinevirtual

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

Implements Body.

◆ setTorque()

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

inlinevirtual

set the torque of this body with torque t, where t is described in body frame

Implements Body.

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

FixedBody.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FixedBody()

Member Function Documentation

◆ addForce()

◆ addTorque()

◆ calcEnergy()

◆ getForce()

◆ getPointVelW()

◆ getTorque()

◆ getVelocity()

◆ reset()

◆ setForce()

◆ setTorque()