Moby Namespace Reference

Classes
class	AABB
	An axis-aligned bounding box. More...
class	ArticulatedBody
	Abstract class for articulated bodies. More...
class	Base
	Class from which all Moby classes are derived. More...
class	BoundingSphere
	A sphere used for bounding geometry. More...
class	BoxPrimitive
	Represents a solid box centered at the origin (by default) More...
class	BV
	An abstract bounding volume. More...
class	CCD
	Implements the CollisionDetection abstract class to perform exact contact finding using abstract shapes. More...
class	CollisionDetection
	Defines an abstract collision detection mechanism. More...
class	CollisionGeometry
	Defines collision geometry that may be used (in principle) many ways: for rigid bodies, non-rigid bodies, ... More...
class	ConePrimitive
	Defines a cone primitive. More...
class	ConstraintSimulator
	An virtual class for simulation with constraints. More...
class	ConstraintStabilization
	Projected constraint stabilization mechanism. More...
class	ContactParameters
	Class for storing contact modeling parameters between two bodies. More...
class	ControlledBody
	Superclass for controlled bodies. More...
class	CylinderPrimitive
	Defines a cylinder primitive. More...
class	DegenerateTriangleException
	Exception thrown when trying to perform an operation that requires a normal on a degenerate triangle. More...
class	Dissipation
class	DummyBV
	An abstract bounding volume. More...
class	FixedJoint
	Defines a joint for fixing two bodies together or fixing one body to the ground. More...
class	Gears
	Defines a gear ("joint") constraint. More...
class	GravityForce
	Gravitational force applied to bodies. More...
class	HeightmapPrimitive
	Represents a heightmap with height zero on the xz plane (primitive can be transformed) More...
class	ImpactConstraintHandler
	Defines the mechanism for handling impact constraints. More...
class	ImpactToleranceException
	Exception thrown when constraint violation is greater than a desired tolerance. More...
struct	IndexedTri
	An indexed triangle. More...
class	IndexedTriArray
	An array of triangles indexed into shared vertices. More...
class	InvalidIndexException
	Exception thrown when trying to access the index beyond the range of the data. More...
class	InvalidStateException
	Exception thrown when an integrator tries to evaluate a derivative at an invalid state. More...
class	InvalidVelocityException
	Exception thrown when an integrator tries to evaluate a derivative at an invalid velocity. More...
class	Joint
	Defines a joint used in articulated rigid body dynamics simulation. More...
class	LCPSolverException
	Exception thrown when LCP solver can't solve. More...
struct	OutputToFile
class	Log
	Moby's logging utility. More...
class	OBB
	An oriented bounding box that optionally allows building an OBB tree. More...
class	OSGGroupWrapper
	A wrapper for OpenInventor OSGGroup class, supporting serialization. More...
struct	PairwiseDistInfo
	Structure for storing the pairwise distance between pointers to two CollisionGeometry objects. More...
class	PenaltyConstraintHandler
	Defines the mechanism for handling Penalty constraints. More...
class	PlanarJoint
	Defines an actuated spherical joint. More...
class	Plane
	Defines a plane using the equation <n, x> = d. More...
class	PlanePrimitive
	Represents a heightmap with height zero on the xz plane (primitive can be transformed) More...
class	PolyhedralPrimitive
	Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions. More...
class	Polyhedron
	A potentially-non-convex polyhedron of genus 0. More...
class	Primitive
	Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions. More...
class	PrismaticJoint
	Defines an actuated prismatic joint. More...
class	RCArticulatedBody
	Defines an articulated body for use with reduced-coordinate dynamics algorithms. More...
class	RCArticulatedBodyInvDynData
	Wrapper class for passing data to and from inverse dynamics algorithms. More...
class	RCArticulatedBodyInvDynAlgo
	Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body. More...
class	RecurrentForce
	Used for applying forces to the simulation on every time step. More...
class	RevoluteJoint
	Defines an actuated revolute joint. More...
class	RigidBody
	Represents a single rigid body. More...
class	ScrewJoint
	Defines an actuated screw (helical) joint. More...
class	SDFReader
	Used to read the simulator state from XML. More...
class	Simulator
	Simulator for both unarticulated and articulated rigid bodies without contact. More...
class	SingularException
	Exception thrown when trying to invert/solve with a non-invertible matrix. More...
struct	MatrixBlock
	Matrix block. More...
class	SparseJacobian
	A Sparse Jacobian representation along with multiplication routines. More...
class	SpherePrimitive
	Represents a sphere primitive for inertia properties, collision detection, and visualization. More...
class	SphericalJoint
	Defines an actuated spherical joint. More...
class	SSL
	A sphere-swept line (SSL) that optionally allows building an SSL tree. More...
class	SSR
	A sphere-swept rectangle (SSR) that optionally allows building an SSR tree. More...
class	StokesDragForce
class	TessellatedPolyhedron
	Represents a three-dimensional polyhedron. More...
class	TimeSteppingSimulator
	An event-driven simulator. More...
class	TorusPrimitive
	Represents a solid box centered at the origin (by default) More...
class	TriangleMeshPrimitive
	Represents a triangle mesh "primitive" for inertia properties, collision detection, and visualization. More...
class	UndefinedAxisException
	Exception thrown when axis has not been defined but user calls operation that requires its definition. More...
class	UnilateralConstraint
	Container class for describing a unilateral constraint in the simulation. More...
class	UniversalJoint
	Defines an actuated universal joint. More...
class	URDFReader
	Used to read the simulator state from URDF. More...
class	Visualizable
	Class that allows for visualizing simulation data. More...
class	XMLReader
	Used to read the simulator state from XML. More...
class	XMLAttrib
	Attributes used for XML nodes. More...
class	XMLTree
	An XML tree used for serialization. More...
class	XMLWriter
	Class for writing Base objects (and their derivatives) to XML. More...
class	BaseData
class	CcolorVisitor
	This OSG NodeVisitor colors all Geometry & ShapeDrawable of a single node. More...

Typedefs
typedef Ravelin::Vector2d	Point2d
	Typedef to distinguish between a 2D vector and a point.
typedef Ravelin::Vector3d	Point3d
	Typedef to distinguish between a 3D vector and a point.
typedef std::pair< Point3d, Point3d >	LineSeg3
	Typedef to make specifying line segments easier.
typedef std::pair< Point2d, Point2d >	LineSeg2
	Typedef to make specifying line segments easier.
typedef boost::shared_ptr < TessellatedPolyhedron >	TessellatedPolyhedronPtr
	TessellatedPolyhedron smart pointer.
typedef boost::shared_ptr < Simulator >	SimulatorPtr
	Simulator smart pointer.
typedef boost::shared_ptr < RigidBody >	RigidBodyPtr
	Rigid body smart pointer.
typedef boost::shared_ptr < ArticulatedBody >	ArticulatedBodyPtr
	Articulated body smart pointer.
typedef boost::shared_ptr < RCArticulatedBody >	RCArticulatedBodyPtr
	Reduced-coordinate articulated body smart pointer.
typedef boost::shared_ptr < MCArticulatedBody >	MCArticulatedBodyPtr
	Maximal-coordinate articulated body smart pointer.
typedef boost::shared_ptr< Joint >	JointPtr
	Reduced-coordinate articulated body joint smart pointer.
typedef boost::shared_ptr < CollisionGeometry >	CollisionGeometryPtr
	Collision geometry smart pointer.
typedef boost::shared_ptr < Primitive >	PrimitivePtr
	Primitive smart pointer.
typedef boost::shared_ptr< Base >	BasePtr
	Base smart pointer.
typedef boost::shared_ptr < RecurrentForce >	RecurrentForcePtr
	Recurrent force smart pointer.
typedef boost::shared_ptr < ControlledBody >	ControlledBodyPtr
	Dynamic body smart pointer.
typedef boost::shared_ptr< BV >	BVPtr
	Bounding volume (BV) smart pointer.
typedef boost::shared_ptr< AABB >	AABBPtr
	Axis-aligned bounding box (AABB) smart pointer.
typedef boost::shared_ptr< OBB >	OBBPtr
	Oriented bounding box (OBB) smart pointer.
typedef boost::shared_ptr < OSGGroupWrapper >	OSGGroupWrapperPtr
	OSGGroupWrapper smart pointer.
typedef boost::shared_ptr < XMLTree >	XMLTreePtr
	XML tree smart pointer.

Functions
std::ostream &	operator<< (std::ostream &out, const AABB &a)
const Ravelin::VectorNd	EMPTY_VEC (0)
std::ostream &	operator<< (std::ostream &out, const IndexedTriArray &mesh)
std::ostream &	operator<< (std::ostream &out, const OBB &o)
template<class ForwardIterator , class RandomAccessIterator1 , class RandomAccessIterator2 >
void	permute (ForwardIterator mapping_begin, ForwardIterator mapping_end, RandomAccessIterator1 input_begin, RandomAccessIterator2 output_begin)
std::ostream &	operator<< (std::ostream &out, const Plane &p)
std::ostream &	operator<< (std::ostream &out, const Polyhedron &m)
std::ostream &	operator<< (std::ostream &out, const Polyhedron::Vertex &m)
std::ostream &	operator<< (std::ostream &out, const Polyhedron::Edge &m)
std::ostream &	operator<< (std::ostream &out, const Polyhedron::Face &m)
std::ostream &	operator<< (std::ostream &, RigidBody &)
	Outputs the object state to the specified stream. More...
std::ostream &	operator<< (std::ostream &o, const SSL &s)
	Outputs the SSL to the specified stream.
std::ostream &	operator<< (std::ostream &o, const SSR &s)
	Outputs the SSR to the specified stream.
std::ostream &	operator<< (std::ostream &out, const TessellatedPolyhedron &p)
	Sends the specified polyhedron to the desired output stream.
std::ostream &	operator<< (std::ostream &out, const UnilateralConstraint &e)
	Sends the constraint to the specified stream.
std::ostream &	operator<< (std::ostream &out, const XMLTree &tree)
	Sends the specified XMLTree node to the given stream.
std::ostream &	operator<< (std::ostream &out, const XMLAttrib &attr)
	Sends the specified XMLAttrib to the given stream.

Variables
const boost::shared_ptr< const Ravelin::Pose3d >	GLOBAL
const double	NEAR_ZERO = std::sqrt(std::numeric_limits<double>::epsilon())
const Ravelin::Matrix3d	ZEROS_3x3 = Ravelin::Matrix3d::zero()
const Ravelin::Matrix3d	IDENTITY_3x3 = Ravelin::Matrix3d::identity()
const unsigned	LOG_SIMULATOR = 1
const unsigned	LOG_CONSTRAINT = 2
const unsigned	LOG_DYNAMICS = 4
const unsigned	LOG_BV = 8
const unsigned	LOG_ADF = 16
const unsigned	LOG_COLDET = 32
const unsigned	LOG_COMPGEOM = 64
const unsigned	LOG_LINALG = 128
const unsigned	LOG_OPT = 256
const unsigned	LOG_DEFORM = 512

Detailed Description

This function, which acts like an STL algorithm, selects elements with given integer indices from a container.

Example: double x[10] = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 }; int i[4] = {3, 1, 5, 7}; double results[4];

select(x, i, i+4, results); // results now contains { 4, 2, 6, 8 }

A bunch of typedefs to make things more readable.

Function Documentation

std::ostream & Moby::operator<<	(	std::ostream &	out,
		Moby::RigidBody &	rb
	)

Outputs the object state to the specified stream.

This method outputs all of the low-level details to the stream

References Moby::RigidBody::compliance, Moby::RigidBody::geometries, Moby::Base::id, and operator<<().

template<class ForwardIterator , class RandomAccessIterator1 , class RandomAccessIterator2 >

void Moby::permute	(	ForwardIterator	mapping_begin,
		ForwardIterator	mapping_end,
		RandomAccessIterator1	input_begin,
		RandomAccessIterator2	output_begin
	)

Parameters

mapping_begin	beginning iterator to mapping giving source indices
mapping_end	ending iterator to mapping giving source indices
input_begin	beginning iterator to source
output_begin	beginning iterator to target