RobWorkProject: RigidObject Class Reference

the RigidObject defines a physical object in the workcell that is rigid in the sence that the geometry does not change. The rigid object also have basic properties such as Inertia and mass. These are default 1.0 kg and inertia of solid sphere with mass 1.0kg and radius of 10cm. The center of mass defaults to origin of the base frame. More...

#include <RigidObject.hpp>

Inherits Object.

Public Types
typedef rw::core::Ptr< RigidObject >	Ptr
	smart pointer

typedef rw::core::Ptr< const RigidObject >	CPtr
	const smart pointer

Public Types inherited from Object
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
	RigidObject (rw::core::Ptr< rw::kinematics::Frame > baseframe)
	constructor More...

	RigidObject (rw::core::Ptr< rw::kinematics::Frame > baseframe, rw::geometry::Geometry::Ptr geom)
	constructor More...

	RigidObject (rw::core::Ptr< rw::kinematics::Frame > baseframe, std::vector< rw::geometry::Geometry::Ptr > geom)
	constructor More...

	RigidObject (std::vector< rw::kinematics::Frame * > frames)
	constructor More...

	RigidObject (std::vector< rw::kinematics::Frame * > frames, rw::geometry::Geometry::Ptr geom)
	constructor More...

	RigidObject (std::vector< rw::kinematics::Frame * > frames, std::vector< rw::geometry::Geometry::Ptr > geom)
	constructor More...

virtual	~RigidObject ()
	destructor

void	addGeometry (rw::geometry::Geometry::Ptr geom)
	add collision geometry from this object More...

void	removeGeometry (rw::geometry::Geometry::Ptr geom)
	remove collision geometry from this object More...

void	addModel (rw::geometry::Model3D::Ptr model)
	add visualization model to this object More...

void	removeModel (rw::geometry::Model3D::Ptr model)
	remove visualization model to this rigid object More...

double	getMass () const
	returns the mass of this RigidObject More...

void	setMass (double mass)
	set mass of this RigidObject More...

rw::math::InertiaMatrix	getInertia () const
	get the inertia matrix of this rigid body seen in the base frame More...

void	setInertia (const rw::math::InertiaMatrix<> &inertia)
	set inertia of this rigid object More...

rw::math::Vector3D< double >	getCOM () const
	get the center of mass of this rigid body seen in the base frame More...

void	setCOM (const rw::math::Vector3D< double > &com)
	set the center of mass of this rigid body seen in the base frame

void	approximateInertia ()
	approximates inertia based on geometry, mass and center of mass properties

void	approximateInertiaCOM ()
	approximates inertia and center of mass based on geometry and mass properties

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry () const
	get geometry of this rigid object More...

const std::vector< rw::geometry::Model3D::Ptr > &	getModels () const
	get visualization models for this rigid object More...

double	getMass (const rw::kinematics::State &state) const
	get mass in Kg of this object More...

rw::math::InertiaMatrix	getInertia (const rw::kinematics::State &state) const
	returns the inertia matrix of this body calculated around COM with the orientation of the base frame. More...

rw::math::Vector3D< double >	getCOM (const rw::kinematics::State &state) const
	get center of mass of this object More...

Public Member Functions inherited from Object
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...

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
const std::vector< rw::geometry::Geometry::Ptr > &	doGetGeometry (const rw::kinematics::State &state) const
	get default geometries More...

const std::vector< rw::geometry::Model3D::Ptr > &	doGetModels (const rw::kinematics::State &state) const
	get the default models More...

Protected Member Functions inherited from Object
	Object (rw::core::Ptr< rw::kinematics::Frame > baseframe)
	constructor

	Object (std::vector< rw::kinematics::Frame * > frames)
	constructor - first frame is base

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.

Detailed Description

Constructor & Destructor Documentation

◆ RigidObject() [1/6]

RigidObject ( rw::core::Ptr< rw::kinematics::Frame > baseframe )

constructor

Parameters

baseframe [in] base frame of the object

◆ RigidObject() [2/6]

RigidObject	(	rw::core::Ptr< rw::kinematics::Frame >	baseframe,
		rw::geometry::Geometry::Ptr	geom
	)

constructor

Parameters

baseframe	[in] base frame of the object
geom	[in] the Geometry Forming the object

◆ RigidObject() [3/6]

RigidObject	(	rw::core::Ptr< rw::kinematics::Frame >	baseframe,
		std::vector< rw::geometry::Geometry::Ptr >	geom
	)

constructor

Parameters

baseframe	[in] base frame of the object
geom	[in] the Geometry Forming the object

◆ RigidObject() [4/6]

RigidObject ( std::vector< rw::kinematics::Frame * > frames )

constructor

Parameters

frames [in] first frame is base frame of the object

◆ RigidObject() [5/6]

RigidObject	(	std::vector< rw::kinematics::Frame * >	frames,
		rw::geometry::Geometry::Ptr	geom
	)

constructor

Parameters

frames	[in] first frame is base frame of the object
geom	[in] the Geometry Forming the object

◆ RigidObject() [6/6]

RigidObject	(	std::vector< rw::kinematics::Frame * >	frames,
		std::vector< rw::geometry::Geometry::Ptr >	geom
	)

constructor

Parameters

frames	[in] first frame is base frame of the object
geom	[in] a list of geometries to form the object

Member Function Documentation

◆ addGeometry()

void addGeometry ( rw::geometry::Geometry::Ptr geom )

add collision geometry from this object

Parameters

geom	[in] the geometry to add

◆ addModel()

void addModel ( rw::geometry::Model3D::Ptr model )

add visualization model to this object

Parameters

model [in] the model to be added

◆ doGetGeometry()

const std::vector<rw::geometry::Geometry::Ptr>& doGetGeometry ( const rw::kinematics::State & state ) const

inlineprotectedvirtual

get default geometries

Returns: geometry for collision detection

Implements Object.

◆ doGetModels()

const std::vector<rw::geometry::Model3D::Ptr>& doGetModels ( const rw::kinematics::State & state ) const

inlineprotectedvirtual

get the default models

Returns: models for vizualization

Implements Object.

◆ getCOM() [1/2]

rw::math::Vector3D<double> getCOM ( ) const

inline

get the center of mass of this rigid body seen in the base frame

Returns: the center of mass 3D coordinate

◆ getCOM() [2/2]

rw::math::Vector3D<double> getCOM ( const rw::kinematics::State & state ) const

inlinevirtual

get center of mass of this object

Parameters

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

Returns

Implements Object.

◆ getGeometry()

const std::vector<rw::geometry::Geometry::Ptr>& getGeometry ( ) const

get geometry of this rigid object

Returns: a list of all Geometries

◆ getInertia() [1/2]

rw::math::InertiaMatrix getInertia ( ) const

inline

get the inertia matrix of this rigid body seen in the base frame

Returns: IntertiaMatrix

◆ getInertia() [2/2]

rw::math::InertiaMatrix getInertia ( const rw::kinematics::State & state ) const

inlinevirtual

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

Implements Object.

◆ getMass() [1/2]

double getMass ( ) const

inline

returns the mass of this RigidObject

Returns: mass of the Object

◆ getMass() [2/2]

double getMass ( const rw::kinematics::State & state ) const

inlinevirtual

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

Implements Object.

◆ getModels()

const std::vector<rw::geometry::Model3D::Ptr>& getModels ( ) const

get visualization models for this rigid object

Returns: a list of all models

◆ removeGeometry()

void removeGeometry ( rw::geometry::Geometry::Ptr geom )

remove collision geometry from this object

Parameters

geom	[in] the geometry to remove

◆ removeModel()

void removeModel ( rw::geometry::Model3D::Ptr model )

remove visualization model to this rigid object

Parameters

model [in] the model to be removed

◆ setInertia()

void setInertia ( const rw::math::InertiaMatrix<> & inertia )

inline

set inertia of this rigid object

Parameters

inertia [in] the inertia of this object

◆ setMass()

void setMass ( double mass )

inline

set mass of this RigidObject

Parameters

mass	[in] the mass of this object

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

RigidObject.hpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RigidObject() [1/6]

◆ RigidObject() [2/6]

◆ RigidObject() [3/6]

◆ RigidObject() [4/6]

◆ RigidObject() [5/6]

◆ RigidObject() [6/6]

Member Function Documentation

◆ addGeometry()

◆ addModel()

◆ doGetGeometry()

◆ doGetModels()

◆ getCOM() [1/2]

◆ getCOM() [2/2]

◆ getGeometry()

◆ getInertia() [1/2]

◆ getInertia() [2/2]

◆ getMass() [1/2]

◆ getMass() [2/2]

◆ getModels()

◆ removeGeometry()

◆ removeModel()

◆ setInertia()

◆ setMass()