Represents a single rigid body. More...

#include <RigidBodyd.h>

Inheritance diagram for Ravelin::RIGIDBODY:

Public Types
enum	Compliance { eRigid, eCompliant, eRigid, eCompliant }

enum	Compliance { eRigid, eCompliant, eRigid, eCompliant }

Public Types inherited from Ravelin::DYNAMIC_BODY
enum	GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial }

enum	GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial }

Public Member Functions
void	add_force (const SFORCE &w)

void	set_pose (const POSE3 &pose)

void	apply_impulse (const SMOMENTUM &w)
	Applies an impulse at a point on the body.

virtual void	rotate (const QUAT &q)
	Rotates the dynamic body by the given orientation.

virtual void	translate (const ORIGIN3 &o)
	Translates the dynamic body by the given translation.

virtual void	calc_fwd_dyn ()
	Forces a recalculation of forward dynamics.

const SPATIAL_RB_INERTIA &	get_inertia ()

void	set_inertia (const SPATIAL_RB_INERTIA &J)

bool	is_child_link (boost::shared_ptr< const RIGIDBODY > query) const

bool	is_descendant_link (boost::shared_ptr< const RIGIDBODY > query) const

const SVELOCITY &	get_velocity ()
	Gets the velocity of the body.

void	set_velocity (const SVELOCITY &xd)

void	set_accel (const SACCEL &xdd)

virtual const SACCEL &	get_accel ()
	Gets the acceleration of the body.

void	set_velocity (const SACCEL &xdd)

virtual void	set_generalized_forces (const SHAREDVECTORN &gf)
	Sets the generalized forces on the body.

virtual void	set_generalized_forces (const VECTORN &gf)
	Sets the generalized forces on the body.

virtual SHAREDMATRIXN &	get_generalized_inertia (SHAREDMATRIXN &M)
	Gets the generalized inertia of this body.

virtual MATRIXN &	get_generalized_inertia (MATRIXN &M)

virtual SHAREDVECTORN &	get_generalized_coordinates_euler (SHAREDVECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual VECTORN &	get_generalized_coordinates_euler (VECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual SHAREDVECTORN &	get_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, SHAREDVECTORN &gv)
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, VECTORN &gv)
	Gets the generalized velocity of this body.

virtual SHAREDVECTORN &	get_generalized_acceleration (SHAREDVECTORN &ga)
	Gets the generalized velocity of this body.

virtual void	add_generalized_force (const SHAREDVECTORN &gf)
	Adds a generalized force to the body.

virtual void	add_generalized_force (const VECTORN &gf)
	Adds a generalized force to the body.

virtual void	apply_generalized_impulse (const SHAREDVECTORN &gf)
	Applies a generalized impulse to the body.

virtual void	apply_generalized_impulse (const VECTORN &gj)
	Applies a generalized impulse to the body.

virtual void	set_generalized_coordinates_euler (const SHAREDVECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_coordinates_euler (const VECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_acceleration (const SHAREDVECTORN &ga)
	Sets the generalized velocity of this body.

virtual void	set_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, const SHAREDVECTORN &gv)
	Sets the generalized velocity of this body. More...

virtual void	set_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, const VECTORN &gv)
	Sets the generalized velocity of this body.

virtual SHAREDVECTORN &	get_generalized_forces (SHAREDVECTORN &f)
	Gets the external forces on this body. More...

virtual VECTORN &	get_generalized_forces (VECTORN &f)
	Gets the external forces on this body. More...

virtual SHAREDVECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, SHAREDVECTORN &gf)
	Converts a force to a generalized force. More...

virtual VECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, VECTORN &gf)
	Converts a force to a generalized force. More...

virtual unsigned	num_generalized_coordinates (DYNAMIC_BODY::GeneralizedCoordinateType gctype) const
	Gets the number of generalized coordinates.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

SHAREDMATRIXN &	transpose_solve_generalized_inertia_single (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)

virtual SHAREDMATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

boost::shared_ptr< RIGIDBODY >	get_parent_link () const

boost::shared_ptr< JOINT >	get_inner_joint_explicit () const

void	add_inner_joint (boost::shared_ptr< JOINT > j)

void	add_outer_joint (boost::shared_ptr< JOINT > j)

void	remove_inner_joint (boost::shared_ptr< JOINT > joint)

void	remove_outer_joint (boost::shared_ptr< JOINT > joint)

virtual REAL	calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >())
	Calculates the kinetic energy of the body in an arbitrary frame.

virtual VECTOR3	calc_point_vel (const VECTOR3 &p) const
	Calculates the velocity at a point on the body in the body frame

bool	is_base () const

bool	is_ground () const

virtual boost::shared_ptr < const POSE3 >	get_computation_frame () const
	Gets the computation frame for the body.

virtual void	set_computation_frame_type (ReferenceFrameType rftype)
	Sets the computation frame type for this body.

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)
	The Jacobian transforms from the generalized coordinate from to the given frame.

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)

const SFORCE &	sum_forces ()

void	reset_accumulators ()
	Resets the force and torque accumulators on the dynamic body.

SFORCE	calc_euler_torques ()

void	set_enabled (bool flag)

void	invalidate_pose_vectors ()

template<class OutputIterator >
OutputIterator	get_parent_links (OutputIterator begin) const

template<class OutputIterator >
OutputIterator	get_child_links (OutputIterator begin) const

boost::shared_ptr< RIGIDBODY >	get_this ()
	Gets the shared pointer for this

boost::shared_ptr< const RIGIDBODY >	get_this () const
	Gets the shared const pointer for this

boost::shared_ptr< const POSE3 >	get_pose () const
	Gets the current pose of this body.

boost::shared_ptr< const POSE3 >	get_gc_pose () const
	Gets the frame for generalized coordinates.

boost::shared_ptr< const POSE3 >	get_mixed_pose () const

REAL	calc_mass () const
	Synonym for get_mass() (implements SingleBody::calc_mass())

virtual REAL	get_mass () const
	Gets the mass of this body.

virtual bool	is_enabled () const
	Gets whether this body is enabled.

boost::shared_ptr < ARTICULATED_BODY >	get_articulated_body () const
	Gets the articulated body corresponding to this body. More...

virtual void	set_articulated_body (boost::shared_ptr< ARTICULATED_BODY > body)
	Sets the articulated body corresponding to this body. More...

unsigned	num_child_links () const
	Gets the number of child links of this link.

bool	is_end_effector () const
	Gets whether this body is an end-effector (i.e., the number of child links is zero) in an articulated body.

void	clear_inner_joints ()
	Removes all inner joints from this link.

void	clear_outer_joints ()
	Removes all outer joints from this link.

unsigned	get_index () const
	Gets the link index (returns std::numeric_limits<unsigned>::max() if not set)

void	set_index (unsigned index)
	Sets the link index. More...

const std::set < boost::shared_ptr< JOINT > > &	get_inner_joints () const
	Gets the set of inner joints for this link.

const std::set < boost::shared_ptr< JOINT > > &	get_outer_joints () const
	Gets the list of outer joints for this link.

void	add_force (const SFORCE &w)

void	set_pose (const POSE3 &pose)

void	apply_impulse (const SMOMENTUM &w)
	Applies an impulse at a point on the body.

virtual void	rotate (const QUAT &q)
	Rotates the dynamic body by the given orientation.

virtual void	translate (const ORIGIN3 &o)
	Translates the dynamic body by the given translation.

virtual void	calc_fwd_dyn ()
	Forces a recalculation of forward dynamics.

const SPATIAL_RB_INERTIA &	get_inertia ()

void	set_inertia (const SPATIAL_RB_INERTIA &J)

bool	is_child_link (boost::shared_ptr< const RIGIDBODY > query) const

bool	is_descendant_link (boost::shared_ptr< const RIGIDBODY > query) const

const SVELOCITY &	get_velocity ()
	Gets the velocity of the body.

void	set_velocity (const SVELOCITY &xd)

void	set_accel (const SACCEL &xdd)

virtual const SACCEL &	get_accel ()
	Gets the acceleration of the body.

void	set_velocity (const SACCEL &xdd)

virtual void	set_generalized_forces (const SHAREDVECTORN &gf)
	Sets the generalized forces on the body.

virtual void	set_generalized_forces (const VECTORN &gf)
	Sets the generalized forces on the body.

virtual SHAREDMATRIXN &	get_generalized_inertia (SHAREDMATRIXN &M)
	Gets the generalized inertia of this body.

virtual MATRIXN &	get_generalized_inertia (MATRIXN &M)

virtual SHAREDVECTORN &	get_generalized_coordinates_euler (SHAREDVECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual VECTORN &	get_generalized_coordinates_euler (VECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual SHAREDVECTORN &	get_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, SHAREDVECTORN &gv)
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, VECTORN &gv)
	Gets the generalized velocity of this body.

virtual SHAREDVECTORN &	get_generalized_acceleration (SHAREDVECTORN &ga)
	Gets the generalized velocity of this body.

virtual void	add_generalized_force (const SHAREDVECTORN &gf)
	Adds a generalized force to the body.

virtual void	add_generalized_force (const VECTORN &gf)
	Adds a generalized force to the body.

virtual void	apply_generalized_impulse (const SHAREDVECTORN &gf)
	Applies a generalized impulse to the body.

virtual void	apply_generalized_impulse (const VECTORN &gj)
	Applies a generalized impulse to the body.

virtual void	set_generalized_coordinates_euler (const SHAREDVECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_coordinates_euler (const VECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_acceleration (const SHAREDVECTORN &ga)
	Sets the generalized velocity of this body.

virtual void	set_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, const SHAREDVECTORN &gv)
	Sets the generalized velocity of this body. More...

virtual void	set_generalized_velocity (DYNAMIC_BODY::GeneralizedCoordinateType gctype, const VECTORN &gv)
	Sets the generalized velocity of this body.

virtual SHAREDVECTORN &	get_generalized_forces (SHAREDVECTORN &f)
	Gets the external forces on this body. More...

virtual VECTORN &	get_generalized_forces (VECTORN &f)
	Gets the external forces on this body. More...

virtual SHAREDVECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, SHAREDVECTORN &gf)
	Converts a force to a generalized force. More...

virtual VECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, VECTORN &gf)
	Converts a force to a generalized force. More...

virtual unsigned	num_generalized_coordinates (DYNAMIC_BODY::GeneralizedCoordinateType gctype) const
	Gets the number of generalized coordinates.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

SHAREDMATRIXN &	transpose_solve_generalized_inertia_single (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)

virtual SHAREDMATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

boost::shared_ptr< RIGIDBODY >	get_parent_link () const

boost::shared_ptr< JOINT >	get_inner_joint_explicit () const

void	add_inner_joint (boost::shared_ptr< JOINT > j)

void	add_outer_joint (boost::shared_ptr< JOINT > j)

void	remove_inner_joint (boost::shared_ptr< JOINT > joint)

void	remove_outer_joint (boost::shared_ptr< JOINT > joint)

virtual REAL	calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >())
	Calculates the kinetic energy of the body in an arbitrary frame.

virtual VECTOR3	calc_point_vel (const VECTOR3 &p) const
	Calculates the velocity at a point on the body in the body frame

bool	is_base () const

bool	is_ground () const

virtual boost::shared_ptr < const POSE3 >	get_computation_frame () const
	Gets the computation frame for the body.

virtual void	set_computation_frame_type (ReferenceFrameType rftype)
	Sets the computation frame type for this body.

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)
	The Jacobian transforms from the generalized coordinate from to the given frame.

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)

const SFORCE &	sum_forces ()

void	reset_accumulators ()
	Resets the force and torque accumulators on the dynamic body.

SFORCE	calc_euler_torques ()

void	set_enabled (bool flag)

void	invalidate_pose_vectors ()

template<class OutputIterator >
OutputIterator	get_parent_links (OutputIterator begin) const

template<class OutputIterator >
OutputIterator	get_child_links (OutputIterator begin) const

boost::shared_ptr< RIGIDBODY >	get_this ()
	Gets the shared pointer for this

boost::shared_ptr< const RIGIDBODY >	get_this () const
	Gets the shared const pointer for this

boost::shared_ptr< const POSE3 >	get_pose () const
	Gets the current pose of this body.

boost::shared_ptr< const POSE3 >	get_gc_pose () const
	Gets the frame for generalized coordinates.

boost::shared_ptr< const POSE3 >	get_mixed_pose () const

REAL	calc_mass () const
	Synonym for get_mass() (implements SingleBody::calc_mass())

virtual REAL	get_mass () const
	Gets the mass of this body.

virtual bool	is_enabled () const
	Gets whether this body is enabled.

boost::shared_ptr < ARTICULATED_BODY >	get_articulated_body () const
	Gets the articulated body corresponding to this body. More...

virtual void	set_articulated_body (boost::shared_ptr< ARTICULATED_BODY > body)
	Sets the articulated body corresponding to this body. More...

unsigned	num_child_links () const
	Gets the number of child links of this link.

bool	is_end_effector () const
	Gets whether this body is an end-effector (i.e., the number of child links is zero) in an articulated body.

void	clear_inner_joints ()
	Removes all inner joints from this link.

void	clear_outer_joints ()
	Removes all outer joints from this link.

unsigned	get_index () const
	Gets the link index (returns std::numeric_limits<unsigned>::max() if not set)

void	set_index (unsigned index)
	Sets the link index. More...

const std::set < boost::shared_ptr< JOINT > > &	get_inner_joints () const
	Gets the set of inner joints for this link.

const std::set < boost::shared_ptr< JOINT > > &	get_outer_joints () const
	Gets the list of outer joints for this link.

Public Member Functions inherited from Ravelin::SINGLE_BODY
virtual boost::shared_ptr < DYNAMIC_BODY >	get_super_body () const

REAL	calc_point_vel (const VECTOR3 &point, const VECTOR3 &dir)
	Calculates the velocity at a point on the body in a given direction.

virtual boost::shared_ptr < DYNAMIC_BODY >	get_super_body () const

REAL	calc_point_vel (const VECTOR3 &point, const VECTOR3 &dir)
	Calculates the velocity at a point on the body in a given direction.

Public Member Functions inherited from Ravelin::DYNAMIC_BODY
virtual void	validate_position_variables ()
	Validates position-based variables (potentially dangerous for a user to call)

virtual void	validate_velocity_variables ()
	Validates velocity-based variables (potentially dangerous for a user to call)

ReferenceFrameType	get_computation_frame_type () const
	Gets the computation frame type for this body.

virtual void	set_generalized_acceleration (const VECTORN &ga)
	Sets the generalized acceleration of this body.

virtual VECTORN &	get_generalized_acceleration (VECTORN &ga)
	Gets the generalized acceleration of this body.

MATRIXN &	get_generalized_inertia (MATRIXN &M)
	Gets the generalized inertia of this body.

virtual MATRIXN &	solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const VECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const VECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual void	validate_position_variables ()
	Validates position-based variables (potentially dangerous for a user to call)

virtual void	validate_velocity_variables ()
	Validates velocity-based variables (potentially dangerous for a user to call)

ReferenceFrameType	get_computation_frame_type () const
	Gets the computation frame type for this body.

virtual void	set_generalized_acceleration (const VECTORN &ga)
	Sets the generalized acceleration of this body.

virtual VECTORN &	get_generalized_acceleration (VECTORN &ga)
	Gets the generalized acceleration of this body.

MATRIXN &	get_generalized_inertia (MATRIXN &M)
	Gets the generalized inertia of this body.

virtual MATRIXN &	solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const VECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const VECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

Public Member Functions inherited from Ravelin::virtual_enable_shared_from_this< DYNAMIC_BODY >
boost::shared_ptr< DYNAMIC_BODY >	shared_from_this ()

boost::shared_ptr< const DYNAMIC_BODY >	shared_from_this () const

Public Attributes
Compliance	compliance
	Compliance value, determines event type.

Public Attributes inherited from Ravelin::DYNAMIC_BODY
std::string	body_id
	The identifier for this body.

Protected Member Functions
void	update_mixed_pose ()

void	update_mixed_pose ()

Protected Attributes
bool	_xddj_valid
	Indicates whether inner joint frame acceleration is valid (up-to-date)

SPATIAL_RB_INERTIA	_Jj
	Spatial rigid body inertia matrix (inner joint frame)

SVELOCITY	_xdj
	Velocity (inner joint frame)

SFORCE	_forcej
	Cumulative force on the body (inner joint frame)

SACCEL	_xddj
	Acceleration (inner joint frame)

boost::shared_ptr< POSE3 >	_F
	reference pose for this body

boost::shared_ptr< POSE3 >	_F2
	secondary pose for this body

boost::weak_ptr< ARTICULATED_BODY >	_abody
	Pointer to articulated body (if this body is a link)

std::set< boost::shared_ptr < JOINT > >	_inner_joints
	Inner joints and associated data.

std::set< boost::shared_ptr < JOINT > >	_outer_joints
	Outer joints and associated data.

Protected Attributes inherited from Ravelin::DYNAMIC_BODY
ReferenceFrameType	_rftype
	The computation frame type.

VECTORN	gc
	Temporaries for use with integration.

VECTORN	gv

VECTORN	gcgv

VECTORN	xp

VECTORN	xv

VECTORN	xa

Friends
class	ARTICULATED_BODY

class	RC_ARTICULATED_BODY

class	MCARTICULATED_BODY

class	JOINT

Detailed Description

Represents a single rigid body.

Contains information needed to represent a rigid body, including position and velocity (both linear and angular), mass, center of mass, inertia matrix, collision data, and visualization data. This class is used for both non-articulated and articulated rigid bodies, though not all member data may be used in the latter.

Todo:: implement rest matrix

Contains information needed to represent a rigid body, including position and velocity (both linear and angular), mass, center of mass, inertia matrix, collision data, and visualization data. This class is used for both non-articulated and articulated rigid bodies, though not all member data may be used in the latter.

Todo:: implement rest matrix

Member Function Documentation

virtual SHAREDVECTORN& Ravelin::RIGIDBODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		SHAREDVECTORN &	gf
	)

virtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

virtual SHAREDVECTORN& Ravelin::RIGIDBODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		SHAREDVECTORN &	gf
	)

virtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

virtual VECTORN& Ravelin::RIGIDBODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		VECTORN &	gf
	)

inlinevirtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Reimplemented from Ravelin::DYNAMIC_BODY.

virtual VECTORN& Ravelin::RIGIDBODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		VECTORN &	gf
	)

inlinevirtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Reimplemented from Ravelin::DYNAMIC_BODY.

boost::shared_ptr<ARTICULATED_BODY> Ravelin::RIGIDBODY::get_articulated_body ( ) const

inlinevirtual

Gets the articulated body corresponding to this body.

Returns: a pointer to the articulated body, or NULL if this body is not a link an articulated body

Implements Ravelin::SINGLE_BODY.

boost::shared_ptr<ARTICULATED_BODY> Ravelin::RIGIDBODY::get_articulated_body ( ) const

inlinevirtual

Gets the articulated body corresponding to this body.

Returns: a pointer to the articulated body, or NULL if this body is not a link an articulated body

Implements Ravelin::SINGLE_BODY.

virtual SHAREDVECTORN& Ravelin::RIGIDBODY::get_generalized_forces ( SHAREDVECTORN & f )

virtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

virtual SHAREDVECTORN& Ravelin::RIGIDBODY::get_generalized_forces ( SHAREDVECTORN & f )

virtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

virtual VECTORN& Ravelin::RIGIDBODY::get_generalized_forces ( VECTORN & f )

inlinevirtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Reimplemented from Ravelin::DYNAMIC_BODY.

virtual VECTORN& Ravelin::RIGIDBODY::get_generalized_forces ( VECTORN & f )

inlinevirtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Reimplemented from Ravelin::DYNAMIC_BODY.

virtual void Ravelin::RIGIDBODY::set_articulated_body ( boost::shared_ptr< ARTICULATED_BODY > body )

inlinevirtual

Sets the articulated body corresponding to this body.

Parameters

body	a pointer to the articulated body or NULL if this body is not a link in an articulated body

virtual void Ravelin::RIGIDBODY::set_articulated_body ( boost::shared_ptr< ARTICULATED_BODY > body )

inlinevirtual

Sets the articulated body corresponding to this body.

Parameters

body	a pointer to the articulated body or NULL if this body is not a link in an articulated body

virtual void Ravelin::RIGIDBODY::set_generalized_velocity	(	DYNAMIC_BODY::GeneralizedCoordinateType	gctype,
		const SHAREDVECTORN &	gv
	)

virtual

Sets the generalized velocity of this body.

Parameters

gv	the generalized velocity

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

virtual void Ravelin::RIGIDBODY::set_generalized_velocity	(	DYNAMIC_BODY::GeneralizedCoordinateType	gctype,
		const SHAREDVECTORN &	gv
	)

virtual

Sets the generalized velocity of this body.

Parameters

gv	the generalized velocity

Note: uses the current generalized coordinates

Implements Ravelin::DYNAMIC_BODY.

void Ravelin::RIGIDBODY::set_index ( unsigned index )

inline

Sets the link index.

This is set automatically by the articulated body. Users should not change this index or unknown behavior will result.

void Ravelin::RIGIDBODY::set_index ( unsigned index )

inline

Sets the link index.

This is set automatically by the articulated body. Users should not change this index or unknown behavior will result.

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

/home/drum/Ravelin.new/include/Ravelin/RigidBodyd.h
/home/drum/Ravelin.new/include/Ravelin/RigidBodyf.h

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