Abstract class for articulated bodies. More...

#include <ArticulatedBody.h>

Inheritance diagram for Moby::ArticulatedBody:

Public Member Functions
virtual void	update_visualization ()
	Updates visualization for the body.

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Loads a MCArticulatedBody object from an XML node.

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const
	Saves this object to a XML tree.

void	update_joint_constraint_violations ()
	Updates joint constraint violation (after integration)

bool	is_joint_constraint_violated () const
	Checks for a joint constraint violation.

virtual void	prepare_to_calc_ode (Ravelin::SharedConstVectorNd &x, double t, double dt, void *data)
	Prepares to compute the ODE.

virtual void	prepare_to_calc_ode_sustained_constraints (Ravelin::SharedConstVectorNd &x, double t, double dt, void *data)
	Integrates a dynamic body. More...

virtual void	ode (double t, double dt, void *data, Ravelin::SharedVectorNd &dx)
	Returns the ODE's for position and velocity (concatenated into x)

template<class OutputIterator >
OutputIterator	find_limit_constraints (OutputIterator begin) const
	Finds (joint) limit constraints. More...

ArticulatedBodyPtr	get_this ()
	Gets shared pointer to this object as type ArticulatedBody.

boost::shared_ptr< const ArticulatedBody >	get_this () const
	Gets shared pointer to this object as type const ArticulateBody.

template<class OutputIterator >
OutputIterator	find_limit_constraints (OutputIterator output_begin) const
	Gets joint limit constraints.

Public Member Functions inherited from Moby::ControlledBody
const std::list < RecurrentForcePtr > &	get_recurrent_forces () const
	Gets the set of recurrent forces applied to this body.

std::list< RecurrentForcePtr > &	get_recurrent_forces ()
	Gets the set of recurrent forces applied to this body.

Public Member Functions inherited from Moby::Visualizable
	Visualizable (const Visualizable *v)

void	set_visualization_relative_pose (const Ravelin::Pose3d &P)
	Sets the visualization relative pose.

virtual void	set_visualization_data (osg::Node *vdata)
	Sets the visualization data from a node.

virtual void	set_visualization_data (OSGGroupWrapperPtr vdata)
	Sets the visualization data from a OSGGroupWrapper.

osg::Group *	get_visualization_data () const
	Gets the visualization data for this object.

boost::shared_ptr< const Ravelin::Pose3d >	get_visualization_pose ()
	Gets the pose for this visualizable object.

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Additional Inherited Members
Static Public Member Functions inherited from Moby::Visualizable
static osg::Group *	construct_from_node (boost::shared_ptr< const XMLTree > node, const std::map< std::string, BasePtr > &id_map)
	Utility method for load_from_xml() More...

Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Public Attributes inherited from Moby::ControlledBody
Ravelin::VectorNd &(*	controller )(boost::shared_ptr< ControlledBody > body, Ravelin::VectorNd &, double, void *)
	The controller callback, if any, for this body.

void *	controller_arg
	Argument to be passed to the controller.

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Protected Attributes inherited from Moby::ControlledBody
boost::weak_ptr< Simulator >	simulator
	Pointer to the simulator (necessary for applying impulses w/constraints)

Protected Attributes inherited from Moby::Visualizable
boost::shared_ptr < Ravelin::Pose3d >	_vF
	The relative pose.

OSGGroupWrapperPtr	_vizdata
	The underlying visualization data.