RobWorkProject: RigidBody Class Reference

A body is an abstraction over some physical object in the scene. The body class is an abstract class that allows interaction by adding gravity, forces and impulses. The integration scheme used to update the velocity and position of the body is defined by the class that inherit the body interface. More...

#include <RigidBody.hpp>

Inherits Body.

Classes
struct	RigidBodyState
	The state of a rigid body. More...

Public Types
typedef rw::core::Ptr< RigidBody >	Ptr
	Smart pointer type for a RigidBody.

Public Types inherited from Body
enum	BodyEventType { MassChangedEvent }
	Types of events a body can emit. More...

typedef rw::core::Ptr< Body >	Ptr
	Smart pointer type for a Body.

typedef boost::function< void(BodyEventType)>	BodyChangedListener
	Defines a state changed listener. More...

typedef rw::core::Event< BodyChangedListener, BodyEventType >	BodyChangedEvent
	Type for body events.

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	RigidBody (const BodyInfo &info, rw::models::Object::Ptr obj)
	Construct a new dynamic body. More...

virtual	~RigidBody ()
	Destructor.

rw::math::Vector3D	getPointVelW (const rw::math::Vector3D<> &p, const rw::kinematics::State &state) const
	calculates the relative velocity of a point p on the body described in world frames. More...

rw::math::VelocityScrew6D	getVelocity (const rw::kinematics::State &state) const
	gets the velocity of this body relative to the parent frame More...

void	reset (rw::kinematics::State &state)
	reset the state variables of this body More...

double	calcEnergy (const rw::kinematics::State &state, const rw::math::Vector3D<> &gravity=rw::math::Vector3D<>::zero(), const rw::math::Vector3D<> &potZero=rw::math::Vector3D<>::zero()) const
	Calculates the total energy of the body. More...

void	setForce (const rw::math::Vector3D<> &f, rw::kinematics::State &state)
	Sets the force described in parent frame acting on the center mass of this body. More...

void	addForce (const rw::math::Vector3D<> &force, rw::kinematics::State &state)
	Adds a force described in parent frame to the center of mass of this body. More...

rw::math::Vector3D	getForce (const rw::kinematics::State &state) const
	Gets the force described in parent frame acting on the center mass of this body. More...

void	setTorque (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	set the torque of this body with torque t, where t is described in body frame More...

void	addTorque (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	Adds a force described in parent frame to the center of mass of this body. More...

rw::math::Vector3D	getTorque (const rw::kinematics::State &state) const
	returns torque described in body frame More...

rw::kinematics::Frame *	getParent (const rw::kinematics::State &state) const
	return the parent frame

rw::math::Transform3D	getPTBody (const rw::kinematics::State &state) const
	returns the transform from parent to body

void	setPTBody (const rw::math::Transform3D<> &pTb, rw::kinematics::State &state)
	set the transform of the body. The transform is described relative to parent.

rw::math::Transform3D	getWTBody (const rw::kinematics::State &state) const
	returns the transform from world to body

rw::math::Transform3D	getWTParent (const rw::kinematics::State &state) const
	Get the transform from the parent. More...

rw::math::Vector3D	getLinVel (const rw::kinematics::State &state) const
	return the linear velocity described in parent frame

rw::math::Vector3D	getLinVelW (const rw::kinematics::State &state) const
	return the linear velocity described in world frame

void	setLinVel (const rw::math::Vector3D<> &lvel, rw::kinematics::State &state)
	set the linear velocity.

void	setLinVelW (const rw::math::Vector3D<> &lvel, rw::kinematics::State &state)
	Set the linear velocity in world frame. More...

rw::math::Vector3D	getAngVel (const rw::kinematics::State &state) const
	returns the angular velocity described in parent frame

virtual rw::math::Vector3D	getAngVelW (const rw::kinematics::State &state) const
	returns the angular velocity described in world frame

virtual void	setAngVel (const rw::math::Vector3D<> &avel, rw::kinematics::State &state)
	set the angular velocity of this rigid body.

void	setAngVelW (const rw::math::Vector3D<> &avel, rw::kinematics::State &state)
	Set the angular velocity in world frame. More...

rw::math::Vector3D	getPointVel (const rw::math::Vector3D<> &p, const rw::kinematics::State &state)
	calculates the relative velocity in parent frame of a point p on the body described in parent frame.

double	getMass () const
	returns the mass of this body

double	getMassInv () const
	returns the inverse of the mass of this body

const rw::math::InertiaMatrix &	getBodyInertia () const
	returns the body inertia matrix

const rw::math::InertiaMatrix &	getBodyInertiaInv () const
	return the inverse of the body inertia matrix

const std::pair< rw::math::Rotation3D<>, rw::math::Vector3D<> > &	getBodyPrincipalInertia () const
	Get the principal inertia of this body. The inertia is described around the center of mass for the principal axes. More...

rw::math::InertiaMatrix	calcInertiaTensorInv (const rw::kinematics::State &state) const
	returns the inverse of the inertia tensor described in parent frame.

rw::math::InertiaMatrix	calcInertiaTensor (const rw::kinematics::State &state) const
	returns the inverse of the inertia tensor described in world frame. More...

rw::kinematics::MovableFrame *	getMovableFrame ()
	The the body frame as a movable frame. More...

rw::math::InertiaMatrix	calcEffectiveMass (const rw::math::Vector3D<> &wPc, const rw::kinematics::State &state) const
	calculates the effective mass of this rigid body seen from the contact point wPc. wPc is described relative to parent frame

rw::math::InertiaMatrix	calcEffectiveMassW (const rw::math::Vector3D<> &wPc, const rw::kinematics::State &state) const
	calculates the effective mass of this rigid body seen from the contact point wPc. wPc is described relative to world

Public Member Functions inherited from Body
virtual	~Body ()
	Destructor.

const std::string &	getName () const
	name of body which is the name of the BodyFrame More...

rw::kinematics::Frame *	getBodyFrame () const
	Returns the frame that the bodies dynamic variables are described relative to. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry (const rw::kinematics::State &state)
	Get all geometry associated with this body. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry ()
	Get all geometry associated with this body. More...

const std::vector< rw::kinematics::Frame * > &	getFrames ()
	gets all frames that is staticly connected to this Body More...

const BodyInfo &	getInfo () const
	get the body info More...

BodyInfo &	getInfo ()
	retrieve body information More...

const std::string &	getMaterialID () const
	Material identifier of this object. More...

const rw::math::InertiaMatrix &	getInertia () const
	get the inertia matrix of this body. The inertia is described around the center of mass and relative to the parent frame. More...

BodyChangedEvent &	changedEvent ()
	Returns StateChangeEvent needed for subscribing and firing the event. More...

void	setMass (double m)
	Set the mass of the body. More...

void	setMass (double m, const rw::math::InertiaMatrix<> &inertia)
	Set the mass and inertia of the body. More...

void	setMass (double m, const rw::math::InertiaMatrix<> &inertia, const rw::math::Vector3D<> &com)
	Set the mass, inertia and center of mass of the body. More...

void	setObject (rw::models::Object::Ptr obj)
	Replaces object belonging to the body. More...

rw::math::Vector3D	getLinVelW (const rw::kinematics::State &state) const
	returns the linear velocity described in world frame

rw::math::Vector3D	getAngVelW (const rw::kinematics::State &state) const
	returns the angular velocity described in world frame

virtual rw::kinematics::Frame *	getParentFrame (const rw::kinematics::State &state) const
	Get the parent frame of this body. More...

virtual void	setForceW (const rw::math::Vector3D<> &f, rw::kinematics::State &state)
	Sets the force described in world frame acting on the center mass of this body. More...

virtual rw::math::Vector3D	getForceW (const rw::kinematics::State &state) const
	Gets the force described in world frame acting on the center mass of this body.

virtual void	addForceW (const rw::math::Vector3D<> &force, rw::kinematics::State &state)
	Adds a force described in world frame to the center of mass of this body.

void	addForceToPos (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos, rw::kinematics::State &state)
	Adds a force described in parent frame to this body which is working on a specific position pos that is described relative to this body.

virtual void	addForceWToPosW (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos, rw::kinematics::State &state)
	Adds a force described in world frame to this body which is worked on a specific position pos that is described relative to world.

virtual void	setTorqueW (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	set the torque of this body with torque t, where t is described in world frame

virtual void	addTorqueW (const rw::math::Vector3D<> &t, rw::kinematics::State &state)
	Add a torque to the body. More...

virtual rw::math::Vector3D	getTorqueW (const rw::kinematics::State &state) const
	returns torque described in world frame

virtual rw::math::Transform3D	getTransformW (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to world frame. More...

rw::math::Transform3D	pTbf (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to the body parent frame. More...

rw::math::Transform3D	pTcom (const rw::kinematics::State &state) const
	Get the current position of the body center of mass relative to the body parent frame. More...

rw::math::Transform3D	wTbf (const rw::kinematics::State &state) const
	Get the current position and orientation of the body frame relative to world frame. More...

rw::math::Transform3D	wTcom (const rw::kinematics::State &state) const
	Get the current position of the body center of mass relative to the world frame. More...

rw::models::Object::Ptr	getObject () const
	Get the geometry information for the body. 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 Attributes
const double	_mass
	Mass of the body.

const double	_massInv
	The inverse of the mass of the body.

rw::kinematics::MovableFrame *	_mframe
	The body frame.

const rw::math::InertiaMatrix	_Ibody
	Inertia of the body.

const rw::math::InertiaMatrix	_IbodyInv
	Inverse of the inertia of the body.

const std::pair< rw::math::Rotation3D<>, rw::math::Vector3D<> >	_IbodyPrincipal
	The principal inertia as a rotation and a vector giving the diagonal.

rw::math::InertiaMatrix	_ITensorInv
	Inertia tensor in parent frame.

rw::math::InertiaMatrix	__ITensor
	Inverse inertia tensor in parent frame.

rw::kinematics::StatelessData< RigidBodyState >	_rstate
	The state of the rigid body.

Protected Attributes inherited from Body
BodyInfo	_info
	The dynamic parameters for the body.

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.

Additional Inherited Members
Public Attributes inherited from Body
BodyChangedEvent	_bodyChangedEvent
	The event where listeners can be registered.

Protected Member Functions inherited from Body
	Body (const BodyInfo &info, rw::models::Object::Ptr obj)
	Construct a new dynamic body. 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

Detailed Description

The rigid body hold 12 state variables in the StateStructure beside the 6 allocated by MovableFrame (for position). the first 6 state variables are for velocity(linear,angular), and the last six are for force/torque accumulation (force,torque)

Constructor & Destructor Documentation

◆ RigidBody()

RigidBody	(	const BodyInfo &	info,
		rw::models::Object::Ptr	obj
	)

Construct a new dynamic body.

Parameters

info	[in] general information about the dynamic properties of this body.
obj	[in] information about the body reference frame and geometry.

Member Function Documentation

◆ addForce()

void addForce	(	const rw::math::Vector3D<> &	force,
		rw::kinematics::State &	state
	)

inlinevirtual

Adds a force described in parent frame to the center of mass of this body.

Implements Body.

◆ addTorque()

void addTorque	(	const rw::math::Vector3D<> &	t,
		rw::kinematics::State &	state
	)

inlinevirtual

Adds a force described in parent frame to the center of mass of this body.

Implements Body.

◆ calcEnergy()

double calcEnergy	(	const rw::kinematics::State &	state,
		const rw::math::Vector3D<> &	gravity = `rw::math::Vector3D<>::zero()`,
		const rw::math::Vector3D<> &	potZero = `rw::math::Vector3D<>::zero()`
	)		const

virtual

Calculates the total energy of the body.

Parameters

state	[in] the state with position and velocity of the body.
gravity	[in] (optional) the gravity to use for calculation of potential energy if not specified, no potential energy is calculated.
potZero	[in] (optional) the zero point for calculation of potential energy.

Returns: the total energy of the body.

Note: RigidBody energy is calculated as \( \frac12 m \mathbf{v}^2 + \frac12 \mathbf{I} \mathbf{w} \cdot \mathbf{w} - m \mathbf{g} \cdot (\mathbf{p}-\mathbf{p_0}) \)

Implements Body.

◆ calcInertiaTensor()

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

returns the inverse of the inertia tensor described in world frame.

returns the inverse of the inertia tensor described in parent frame.

◆ getBodyPrincipalInertia()

const std::pair<rw::math::Rotation3D<>, rw::math::Vector3D<> >& getBodyPrincipalInertia ( ) const

inline

Get the principal inertia of this body. The inertia is described around the center of mass for the principal axes.

Returns: the principal inertia and the principal axes as a rotation matrix.

◆ getForce()

rw::math::Vector3D getForce ( const rw::kinematics::State & state ) const

inlinevirtual

Gets the force described in parent frame acting on the center mass of this body.

Implements Body.

◆ getMovableFrame()

rw::kinematics::MovableFrame* getMovableFrame ( )

inline

The the body frame as a movable frame.

Returns: a pointer to a movable frame.

◆ getPointVelW()

rw::math::Vector3D getPointVelW	(	const rw::math::Vector3D<> &	p,
		const rw::kinematics::State &	state
	)		const

virtual

calculates the relative velocity of a point p on the body described in world frames.

Reimplemented from Body.

◆ getTorque()

rw::math::Vector3D getTorque ( const rw::kinematics::State & state ) const

inlinevirtual

returns torque described in body frame

Implements Body.

◆ getVelocity()

rw::math::VelocityScrew6D getVelocity ( const rw::kinematics::State & state ) const

virtual

gets the velocity of this body relative to the parent frame

Parameters

state

Returns

Implements Body.

◆ getWTParent()

rw::math::Transform3D getWTParent ( const rw::kinematics::State & state ) const

inline

Get the transform from the parent.

Parameters

state [in] the state giving the current pose of the body.

Returns: the relative transform.

◆ reset()

void reset ( rw::kinematics::State & state )

virtual

reset the state variables of this body

Implements Body.

◆ setAngVelW()

void setAngVelW	(	const rw::math::Vector3D<> &	avel,
		rw::kinematics::State &	state
	)

inline

Set the angular velocity in world frame.

Parameters

avel	[in] the angular velocity.
state	[out] the state with the current pose, updated with new velocity.

◆ setForce()

void setForce	(	const rw::math::Vector3D<> &	f,
		rw::kinematics::State &	state
	)

inlinevirtual

Sets the force described in parent frame acting on the center mass of this body.

Implements Body.

◆ setLinVelW()

void setLinVelW	(	const rw::math::Vector3D<> &	lvel,
		rw::kinematics::State &	state
	)

inline

Set the linear velocity in world frame.

Parameters

lvel	[in] the linear velocity.
state	[out] the state with the current pose, updated with new velocity.

◆ setTorque()

void setTorque	(	const rw::math::Vector3D<> &	t,
		rw::kinematics::State &	state
	)

inlinevirtual

set the torque of this body with torque t, where t is described in body frame

Implements Body.

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

RigidBody.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RigidBody()

Member Function Documentation

◆ addForce()

◆ addTorque()

◆ calcEnergy()

◆ calcInertiaTensor()

◆ getBodyPrincipalInertia()

◆ getForce()

◆ getMovableFrame()

◆ getPointVelW()

◆ getTorque()

◆ getVelocity()

◆ getWTParent()

◆ reset()

◆ setAngVelW()

◆ setForce()

◆ setLinVelW()

◆ setTorque()