Package org.robwork.sdurw_models

Class Object

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_models.Object

Direct Known Subclasses:

DeformableObject, RigidObject

public class Object
extends Stateless

The object class represents a physical thing in the scene which has geometry.
An object has a base frame (similar to a Device) and may have a number of associated frames.

Constructor Summary

Constructors

Constructor	Description
Object(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addFrame(FramePtr frame)	associate a frame to this Object.
void	delete()
Frame	getBase()	get base frame of this object
Vector3D	getCOM(State state)	get center of mass of this object
static long	getCPtr(Object obj)
FrameVector	getFrames()	get all associated frames of this object
VectorGeometryPtr	getGeometry()	get default geometries
VectorGeometryPtr	getGeometry(State state)	get geometry of this object
InertiaMatrixd	getInertia(State state)	returns the inertia matrix of this body calculated around COM with the orientation of the base frame.
double	getMass(State state)	get mass in Kg of this object
Model3DPtrVector	getModels()	get the default models
Model3DPtrVector	getModels(State state)	get visualization models of this object
java.lang.String	getName()	get name of this object.

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Object

public Object(long cPtr,
              boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(Object obj)

delete

public void delete()

Overrides:

delete in class Stateless

getName

public java.lang.String getName()

get name of this object. Name is always the same as the name of the
base frame.

Returns:

name of object.

getBase

public Frame getBase()

get base frame of this object

Returns:

base frame of object

getFrames

public FrameVector getFrames()

get all associated frames of this object

Returns:

a vector of frames

addFrame

public void addFrame(FramePtr frame)

associate a frame to this Object.

Parameters:

frame - [in] frame to associate to object

getGeometry

public VectorGeometryPtr getGeometry()

get default geometries

Returns:

geometry for collision detection

getModels

public Model3DPtrVector getModels()

get the default models

Returns:

models for vizualization

getGeometry

public VectorGeometryPtr getGeometry(State state)

get geometry of this object

Returns:

geometry for collision detection.

getModels

public Model3DPtrVector getModels(State state)

get visualization models of this object

Returns:

models for visualization

getMass

public double getMass(State state)

get mass in Kg of this object

Parameters:

state - [in] the state in which the mass should be gotten from

Returns:

mass in kilo grams

getCOM

public Vector3D getCOM(State state)

get center of mass of this object

Parameters:

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

Returns:

getInertia

public InertiaMatrixd getInertia(State state)

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