RobWorkProject  23.9.11-
Public Types | Public Member Functions | Static Public Member Functions | List of all members
LogContactForceTorque Class Reference

Log a set of contact forces and torques. More...

#include <LogContactForceTorque.hpp>

Inherits LogForceTorque.

Public Types

typedef rw::core::Ptr< LogContactForceTorquePtr
 Smart pointer type of LogContactForceTorque.
 
- Public Types inherited from LogForceTorque
typedef rw::core::Ptr< LogForceTorquePtr
 Smart pointer type of LogForceTorque.
 
- Public Types inherited from SimulatorLogEntry
typedef rw::core::Ptr< SimulatorLogEntryPtr
 Smart pointer type of SimulatorLogEntry.
 
- Public Types inherited from SimulatorLog
typedef rw::core::Ptr< SimulatorLogPtr
 Smart pointer type of SimulatorLog.
 
typedef rw::core::Ptr< const SimulatorLogCPtr
 Smart pointer type of const SimulatorLog.
 

Public Member Functions

 LogContactForceTorque (SimulatorLogScope *parent)
 Constructor. More...
 
virtual ~LogContactForceTorque ()
 Destructor.
 
virtual std::string getType () const
 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::PtrgetLinkedEntries () const
 Get a list of other entries that this entry is linked to. More...
 
virtual bool autoLink ()
 Do automatic linking to other entries. More...
 
virtual SimulatorLogEntry::Ptr createNew (SimulatorLogScope *parent) const
 Create a new entry of the same type (no data is copied). More...
 
virtual int sizeLinkedEntry () const
 Get the size of the linked entry (if any). More...
 
virtual const std::string & getNameA (std::size_t i) const
 Get name of the first object. More...
 
virtual const std::string & getNameB (std::size_t i) const
 Get name of the second object. More...
 
virtual rw::math::Vector3D getPositionA (std::size_t i) const
 Get anchor position on the first object. More...
 
virtual rw::math::Vector3D getPositionB (std::size_t i) const
 Get anchor position on the second object. More...
 
rw::core::Ptr< LogContactSetgetContacts () const
 Get the positions of the contacts. More...
 
- Public Member Functions inherited from LogForceTorque
 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
 
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 SimulatorLogScopegetParent () 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
 

Static Public Member Functions

static std::string getTypeID ()
 Get the type id of this entry type. More...
 

Detailed Description

Log a set of contact forces and torques.

Constructor & Destructor Documentation

◆ LogContactForceTorque()

Constructor.

Note
This item will not be added as a child to the parent scope using this constructor.
Parameters
parentthe parent of this log item.

Member Function Documentation

◆ autoLink()

virtual bool autoLink ( )
virtual

Do automatic linking to other entries.

Returns
true if linking succeeded, false otherwise.

Implements LogForceTorque.

◆ createNew()

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

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

Parameters
parentthe parent of the new entry.
Returns
the new entry.

Implements LogForceTorque.

◆ getContacts()

rw::core::Ptr<LogContactSet> getContacts ( ) const

Get the positions of the contacts.

This is similar to getLinkedEntries.

Returns
the log entry with positions of contacts (or NULL if not linked).

◆ getLinkedEntries()

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

◆ getNameA()

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

Get name of the first object.

Parameters
i[in] the index.
Returns
the name or an empty string if not linked properly.

Implements LogForceTorque.

◆ getNameB()

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

Get name of the second object.

Parameters
i[in] the index.
Returns
the name or an empty string if not linked properly.

Implements LogForceTorque.

◆ getPositionA()

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

Get anchor position on the first object.

Parameters
i[in] the index.
Returns
the anchor point or zero if not linked.

Implements LogForceTorque.

◆ getPositionB()

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

Get anchor position on the second object.

Parameters
i[in] the index.
Returns
the anchor point or zero if not linked.

Implements LogForceTorque.

◆ getType()

virtual std::string getType ( ) const
virtual

Get a textual representation of the type of the item.

Returns
the type of item as a string.

Implements LogForceTorque.

◆ getTypeID()

static std::string getTypeID ( )
static

Get the type id of this entry type.

Returns
the type id.

◆ 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 LogForceTorque.

◆ sizeLinkedEntry()

virtual int sizeLinkedEntry ( ) const
virtual

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

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

Implements LogForceTorque.


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