MBody Class Reference

#include <MBody.h>

Collaboration diagram for MBody:


Public Member Functions
	MBody (const string &objectName, const dWorldID &worldID)
virtual	~MBody ()
bool	initFromXML (const wxXmlNode &node)
void	getAvailableData (map< TLMDataIF::Key, TLMDataIF::DataInfo > &data) const
bool	getDataValue (const TLMDataIF::Key &key, string &data) const
bool	setDataValue (const TLMDataIF::Key &key, const string &data)
virtual void	setMassDistribution (const dMass &massDistribution)
virtual void	addMassDistribution (const dMass &massDistribution)
virtual void	addMassDistribution (const MGeometry &geom, const double mass)
virtual void	setTotalMass (const double mass)
virtual void	getTotalMass (double &mass) const
virtual void	getMassDistribution (double &m00, double &m01, double &m02, double &m11, double &m12, double &m22) const
virtual void	setMassDistribution (const double m00, const double m01, const double m02, const double m11, const double m12, const double m22)
virtual void	getCenterOfMass (double &x, double &y, double &z) const
virtual void	setCenterOfMass (const double x, const double y, const double z)
virtual void	setPosition (const double x, const double y, const double z)
virtual void	getPosition (double &x, double &y, double &z) const
virtual void	setVelocity (const double vx, const double vy, const double vz)
virtual void	getVelocity (double &vx, double &vy, double &vz) const
virtual void	getQuaternion (double &angle, double &x, double &y, double &z) const
virtual void	setQuaternion (const double angle, const double x, const double y, const double z)
virtual void	setRotation (const double phi, const double theta, const double psi)
const string &	objectName () const
void	objectName (const string &name)
dBodyID	bodyID () const
Static Public Member Functions
static MBody *	getBodyForID (const dBodyID id)
Protected Member Functions
void	cleanup ()
bool	parseMassNode (const wxXmlNode &node, dMass &result)
	Handle the <mass> XML node.
Protected Attributes
string	myObjectName
	The name of my parent object.
dBodyID	myBodyID
	The body id of this object in the physics model.

Detailed Description

A modeled body. A body is something that has mass, position and velocity that the physics model models.

Author:: Chad Weisshaar

Date:: 2005

Definition at line 21 of file MBody.h.

Constructor & Destructor Documentation

MBody::MBody ( const string & objectName,

const dWorldID & worldID

)

Create a new model object. This object will be added to the given world. This object doesn't have a shape or a mass until you call the set functions
Definition at line 16 of file MBody.cpp.
References memTraceMsg, and myBodyID.

MBody::~MBody ( ) [virtual]

Definition at line 27 of file MBody.cpp.
References cleanup(), and memTraceMsg.
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Member Function Documentation

void MBody::addMassDistribution ( const MGeometry & geom,

const double mass

) [virtual]

Add a mass distribution to this body. This can be called multiple times to build up a mass distribution from a set of simple distributions. The geometry provides the distribution that matches its shape.
Definition at line 420 of file MBody.cpp.
References addMassDistribution(), MGeometry::getMassDistro(), and traceId.
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void MBody::addMassDistribution ( const dMass & massDistribution ) [virtual]

Add a mass distribution to this body. This can be called multiple times to build up a mass distribution from a set of simple distributions
Definition at line 411 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by addMassDistribution().

dBodyID MBody::bodyID ( ) const [inline]

Definition at line 178 of file MBody.h.
References myBodyID.
Referenced by MHingeJoint::MHingeJoint().

void MBody::cleanup ( ) [protected]

Definition at line 561 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by ~MBody().

void MBody::getAvailableData ( map< TLMDataIF::Key, TLMDataIF::DataInfo > & data ) const

Get all the available data/telemetry elements that this class can provide. Each of the returned keys can be passed to the get/set functions to get/set that member data.
Reimplemented from MTransformable.
Definition at line 241 of file MBody.cpp.
References TLMDataIF::DOUBLE, MTransformable::getAvailableData(), and traceId.
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MBody * MBody::getBodyForID ( const dBodyID id ) [static]

Get the MBody for a particular physics model body ID.
Definition at line 10 of file MBody.cpp.
References traceId.

void MBody::getCenterOfMass ( double & x,

double & y,

double & z

) const [virtual]

Get the center of mass
Definition at line 475 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by getDataValue(), and setDataValue().

bool MBody::getDataValue ( const TLMDataIF::Key & key,

string & data

) const [virtual]

Get the value of a particular data/telemetry element.
Parameters:

key A valid key as returned by the getAvailableData function

data The returned data. All data is returned as a string regardless of the actual type.

Returns:
true if the data was found in this class and the data parameter was set to its value. false otherwise

Reimplemented from MTransformable.
Definition at line 274 of file MBody.cpp.
References getCenterOfMass(), MTransformable::getDataValue(), getMassDistribution(), getTotalMass(), getVelocity(), and traceId.
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void MBody::getMassDistribution ( double & m00,

double & m01,

double & m02,

double & m11,

double & m12,

double & m22

) const [virtual]

Get the mass distribution of the body The inertia matrix is defined as ( m00, m01, m02 ) ( m10, m11, m12 ) ( m20, m21, m22 ) However, you only specify the upper right and diagonal portion of the matrix since it is symetric
Definition at line 446 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by getDataValue(), and setDataValue().

void MBody::getPosition ( double & x,

double & y,

double & z

) const [virtual]

Get the position of the center of mass of the body.
Implements MTransformable.
Definition at line 502 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::getQuaternion ( double & angle,

double & x,

double & y,

double & z

) const [virtual]

Get the quaternion. A quaternion is a vector and a rotation about that vector.
Parameters:

angle The amount of rotation

Implements MTransformable.
Definition at line 542 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::getTotalMass ( double & mass ) const [virtual]

Get the total mass of the body
Definition at line 438 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by getDataValue().

void MBody::getVelocity ( double & vx,

double & vy,

double & vz

) const [virtual]

Get the velocity of the body
Definition at line 517 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by getDataValue(), and setDataValue().

bool MBody::initFromXML ( const wxXmlNode & node )

Initialize this body from the <body> XML node. This will setup the mass distribution of the body.
Definition at line 33 of file MBody.cpp.
References myBodyID, myObjectName, parseMassNode(), traceId, and verboseMsg.
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void MBody::objectName ( const string & name ) [inline]

Definition at line 176 of file MBody.h.
References myObjectName.

const string& MBody::objectName ( ) const [inline]

Definition at line 175 of file MBody.h.
References myObjectName.
Referenced by MJoint::getDataValue().

bool MBody::parseMassNode ( const wxXmlNode & massNode,

dMass & result

) [protected]

Handle the <mass> XML node.

Todo:
cylinder mass_shapes

Definition at line 64 of file MBody.cpp.
References myObjectName, traceId, and verboseMsg.
Referenced by initFromXML().

void MBody::setCenterOfMass ( const double x,

const double y,

const double z

) [virtual]

Set the center of mass
Definition at line 485 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by setDataValue().

bool MBody::setDataValue ( const TLMDataIF::Key & key,

const string & data

) [virtual]

Set the value of a particular data/telemetry element.
Parameters:

key A valid key as returned by the getAvailableData function

data The data to set. All data is provided as a string regardless of the actual type.

Returns:
true if the data was found in this class and the data parameter was set to its value. false otherwise

Reimplemented from MTransformable.
Definition at line 341 of file MBody.cpp.
References getCenterOfMass(), getMassDistribution(), getVelocity(), setCenterOfMass(), MTransformable::setDataValue(), setMassDistribution(), setTotalMass(), setVelocity(), and traceId.
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void MBody::setMassDistribution ( const double m00,

const double m01,

const double m02,

const double m11,

const double m12,

const double m22

) [virtual]

Definition at line 460 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::setMassDistribution ( const dMass & massDistribution ) [virtual]

Setup the mass distribution for this object. If this function isn't called, the object defaults to a mass zero particle
Definition at line 405 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by setDataValue(), and setTotalMass().

void MBody::setPosition ( const double x,

const double y,

const double z

) [virtual]

Set the position of the body. This will set the positions of the associcated geometries too. Be careful when using this on a body currently being simulated. This can mess up joints. Certainly don't call this every frame to move an object. Instead provide forces and let the physics engine move the objects.
Implements MTransformable.
Definition at line 511 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::setQuaternion ( const double angle,

const double x,

const double y,

const double z

) [virtual]

Get the quaternion. A quaternion is a vector and a rotation about that vector.
Parameters:

angle The amount of rotation

Implements MTransformable.
Definition at line 532 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::setRotation ( const double phi,

const double theta,

const double psi

) [virtual]

Set the rotation rotation. These are euler angles.
Parameters:

phi rotation about the x axis

theta rotation about the y axis

psi rotation about the z axis

Implements MTransformable.
Definition at line 553 of file MBody.cpp.
References myBodyID, and traceId.

void MBody::setTotalMass ( const double mass ) [virtual]

Adjust the mass disribution of this object so that the total mass is the given mass
Definition at line 429 of file MBody.cpp.
References myBodyID, setMassDistribution(), and traceId.
Referenced by setDataValue().
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void MBody::setVelocity ( const double vx,

const double vy,

const double vz

) [virtual]

Set the velocity of the body. Be careful when using this on a body currently being simulated. This can mess up joints. Certainly don't call this every frame to move an object. Instead provide forces and let the physics engine move the objects.
Definition at line 526 of file MBody.cpp.
References myBodyID, and traceId.
Referenced by setDataValue().

Member Data Documentation

dBodyID MBody::myBodyID [protected]

The body id of this object in the physics model.

Definition at line 188 of file MBody.h.
Referenced by addMassDistribution(), bodyID(), cleanup(), getCenterOfMass(), getMassDistribution(), getPosition(), getQuaternion(), getTotalMass(), getVelocity(), initFromXML(), MBody(), setCenterOfMass(), setMassDistribution(), setPosition(), setQuaternion(), setRotation(), setTotalMass(), and setVelocity().

string MBody::myObjectName [protected]

The name of my parent object.

Definition at line 186 of file MBody.h.
Referenced by initFromXML(), objectName(), and parseMassNode().

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

C:/Dev/C++/code/Robotics/Model/src/MBody.h
C:/Dev/C++/code/Robotics/Model/src/MBody.cpp

Generated on Sat Dec 3 10:48:04 2005 for Robotics by

1.4.5

MBody Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation