mbsim 4.0.0 MBSim Kernel

room.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _ROOM_H_
21 #define _ROOM_H_
22
23 #include "mbsim/contours/compound_contour.h"
24
25 #include "mbsim/utils/boost_parameters.h"
26 #include <mbsim/utils/openmbv_utils.h>
27 #include <openmbvcppinterface/cuboid.h>
28
29 namespace MBSim {
30
34 class Room : public CompoundContour {
35 public:
42 Room(const std::string &name="", const fmatvec::Vec3 &length=fmatvec::Vec3(fmatvec::INIT,1), Frame *R=nullptr) : CompoundContour(name,R), l(length(0)), h(length(1)), d(length(2)) { }
43
44 /* INHERITED INTERFACE OF ELEMENT */
45 /***************************************************/
46 void init(InitStage stage, const InitConfigSet &config) override;
47 /***************************************************/
48
49 /* GETTER / SETTER */
50 void setLength(const fmatvec::Vec3 &length) { l = length(0); h = length(1); d = length(2); }
51 void setLength(double l_, double h_, double d_) { l = l_; h = h_; d = d_; }
52 /***************************************************/
53
54 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
55 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
56 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Cuboid>();
57 }
58
59 protected:
63 double l{1};
64 double h{1};
65 double d{1};
66
70 bool enable{false};
71
75 int gridSize{10};
76 };
77 }
78
79 #endif /* _ROOM_H_ */
MBSim::Room::gridSize
int gridSize
grid size
Definition: room.h:75
MBSim::CompoundContour
contour consisting of primitive contour elements
Definition: compound_contour.h:34
OpenMBV::Cuboid
MBSim::Room::enable
bool enable
enable openMBV output
Definition: room.h:70
MBSim::Room
Room with 6 faces pointing inwards.
Definition: room.h:34
MBSim::Room::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: room.cc:33
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Room::Room
Room(const std::string &name="", const fmatvec::Vec3 &length=fmatvec::Vec3(fmatvec::INIT, 1), Frame *R=nullptr)
constructor
Definition: room.h:42
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::Room::l
double l
length, height and depth of room
Definition: room.h:63
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30