RobWorkProject
24.12.4-
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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. More...
#include <Object.hpp>
Inherits Stateless.
Inherited by DeformableObject, and RigidObject.
Public Types | |
typedef rw::core::Ptr< Object > | Ptr |
smart pointer | |
typedef rw::core::Ptr< const Object > | CPtr |
const smart pointer | |
Public Types inherited from Stateless | |
typedef rw::core::Ptr< Stateless > | Ptr |
Smart pointer type for Stateless. | |
Public Member Functions | |
virtual | ~Object () |
destructor | |
const std::string & | getName () |
get name of this object. Name is always the same as the name of the base frame. More... | |
rw::kinematics::Frame * | getBase () |
get base frame of this object More... | |
const rw::kinematics::Frame * | getBase () const |
get base frame of this object More... | |
const std::vector< rw::kinematics::Frame * > & | getFrames () |
get all associated frames of this object More... | |
void | addFrame (rw::core::Ptr< rw::kinematics::Frame > frame) |
associate a frame to this Object. More... | |
const std::vector< rw::geometry::Geometry::Ptr > & | getGeometry () const |
get default geometries More... | |
const std::vector< rw::geometry::Model3D::Ptr > & | getModels () const |
get the default models More... | |
const std::vector< rw::geometry::Geometry::Ptr > & | getGeometry (const rw::kinematics::State &state) const |
get geometry of this object More... | |
const std::vector< rw::geometry::Model3D::Ptr > & | getModels (const rw::kinematics::State &state) const |
get visualization models of this object More... | |
virtual double | getMass (const rw::kinematics::State &state) const =0 |
get mass in Kg of this object More... | |
virtual rw::math::Vector3D< double > | getCOM (const rw::kinematics::State &state) const =0 |
get center of mass of this object More... | |
virtual rw::math::InertiaMatrix | getInertia (const rw::kinematics::State &state) const =0 |
returns the inertia matrix of this body calculated around COM with the orientation of the base frame. | |
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... | |
Protected Member Functions | |
Object (rw::core::Ptr< rw::kinematics::Frame > baseframe) | |
constructor | |
Object (std::vector< rw::kinematics::Frame * > frames) | |
constructor - first frame is base | |
virtual const std::vector< rw::geometry::Geometry::Ptr > & | doGetGeometry (const rw::kinematics::State &state) const =0 |
get geometry of this object More... | |
virtual const std::vector< rw::geometry::Model3D::Ptr > & | doGetModels (const rw::kinematics::State &state) const =0 |
get visualization models of this object 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 | |
Friends | |
class | WorkCell |
Additional Inherited Members | |
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. | |
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.
void addFrame | ( | rw::core::Ptr< rw::kinematics::Frame > | frame | ) |
associate a frame to this Object.
frame | [in] frame to associate to object |
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protectedpure virtual |
get geometry of this object
Implemented in RigidObject, and DeformableObject.
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protectedpure virtual |
get visualization models of this object
Implemented in RigidObject, and DeformableObject.
rw::kinematics::Frame* getBase | ( | ) |
get base frame of this object
const rw::kinematics::Frame* getBase | ( | ) | const |
get base frame of this object
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pure virtual |
get center of mass of this object
state | [in] the state in which to get center of mass |
Implemented in RigidObject, and DeformableObject.
const std::vector<rw::kinematics::Frame*>& getFrames | ( | ) |
get all associated frames of this object
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inline |
get default geometries
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inline |
get geometry of this object
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pure virtual |
get mass in Kg of this object
state | [in] the state in which the mass should be gotten from |
Implemented in RigidObject, and DeformableObject.
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inline |
get the default models
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inline |
get visualization models of this object
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inline |
get name of this object. Name is always the same as the name of the base frame.