Abstract base class for all rigid bodies. More...

#include <rigidbody.h>

Inheritance diagram for OpenMBV::RigidBody:

Public Member Functions
void	setLocalFrame (bool f)

bool	getLocalFrame ()

void	setReferenceFrame (bool f)

bool	getReferenceFrame ()

void	setPath (bool p)

bool	getPath ()

void	setDragger (bool p)

bool	getDragger ()

void	setInitialTranslation (const std::vector< double > &initTrans)

std::vector< double >	getInitialTranslation ()

void	setInitialTranslation (double x, double y, double z)

void	setInitialRotation (const std::vector< double > &initRot)

std::vector< double >	getInitialRotation ()

void	setInitialRotation (double a, double b, double g)

void	setScaleFactor (double scale)

double	getScaleFactor ()

template<typename T >
void	append (const T &row)

int	getRows () override

std::vector< double >	getRow (int i) override

void	initializeUsingXML (xercesc::DOMElement *element) override

xercesc::DOMElement *	writeXMLFile (xercesc::DOMNode *parent) override

std::string	getFullName () override

std::shared_ptr< Group >	getTopLevelGroup ()

std::weak_ptr< CompoundRigidBody >	getCompound ()

Public Member Functions inherited from OpenMBV::DynamicColoredBody
void	setMinimalColorValue (double min)

double	getMinimalColorValue ()

void	setMaximalColorValue (double max)

double	getMaximalColorValue ()

void	setDynamicColor (const double col)

double	getDynamicColor ()

void	setDiffuseColor (const std::vector< double > &hsv)

void	setDiffuseColor (double h, double s, double v)

std::vector< double >	getDiffuseColor ()

void	setTransparency (double t)

double	getTransparency ()

void	initializeUsingXML (xercesc::DOMElement *element) override

xercesc::DOMElement *	writeXMLFile (xercesc::DOMNode *parent) override

Public Member Functions inherited from OpenMBV::Body
void	setOutLine (bool ol)

bool	getOutLine ()

void	setShilouetteEdge (bool ol)

bool	getShilouetteEdge ()

void	setDrawMethod (DrawStyle ds)

DrawStyle	getDrawMethod ()

void	setPointSize (double ps)

double	getPointSize ()

void	setLineWidth (double lw)

double	getLineWidth ()

void	initializeUsingXML (xercesc::DOMElement *element) override

xercesc::DOMElement *	writeXMLFile (xercesc::DOMNode *parent) override

virtual int	getRows ()=0

virtual std::vector< double >	getRow (int i)=0

Public Member Functions inherited from OpenMBV::Object
void	setEnable (bool enable)

bool	getEnable ()

void	setBoundingBox (bool bbox)

bool	getBoundingBox ()

void	setName (const std::string &name_)

std::string	getName ()

virtual std::string	getFullName ()

void	setEnvironment (bool env)

bool	getEnvironment ()

virtual void	initializeUsingXML (xercesc::DOMElement *element)

virtual xercesc::DOMElement *	writeXMLFile (xercesc::DOMNode *parent)

std::shared_ptr< Group >	getTopLevelGroup ()

std::weak_ptr< Group >	getParent ()

H5::GroupBase *	getHDF5Group ()

std::string	getID () const

void	setID (std::string ID_)

Protected Member Functions
void	createHDF5File () override

void	openHDF5File () override

void	createHDF5File () override

void	openHDF5File () override

virtual void	createHDF5File ()=0

virtual void	openHDF5File ()=0

Protected Attributes
std::string	localFrameStr

std::string	referenceFrameStr

std::string	pathStr

std::string	draggerStr

std::vector< double >	initialTranslation {3}

std::vector< double >	initialRotation {3}

double	scaleFactor {1}

H5::VectorSerie< double > *	data {nullptr}

std::weak_ptr< CompoundRigidBody >	compound

Protected Attributes inherited from OpenMBV::DynamicColoredBody
double	minimalColorValue {0}

double	maximalColorValue {1}

double	dynamicColor

std::vector< double >	diffuseColor

double	transparency {0}

Protected Attributes inherited from OpenMBV::Body
std::string	outLineStr

std::string	shilouetteEdgeStr

DrawStyle	drawMethod {filled}

double	pointSize {0}

double	lineWidth {0}

Protected Attributes inherited from OpenMBV::Object
std::string	name

std::string	enableStr

std::string	boundingBoxStr

std::string	ID

std::string	environmentStr

std::weak_ptr< Group >	parent

H5::GroupBase *	hdf5Group {nullptr}

std::string	fullName

Friends
class	CompoundRigidBody

Additional Inherited Members
Public Types inherited from OpenMBV::Body
enum	DrawStyle { filled , lines , points }

Detailed Description

Abstract base class for all rigid bodies.

Each rigid body has a body fixed local coordinate system L and a reference coordinate system R which has a fixed relative position and rotation with respect to L (see figure). And there is a inertial fixed world coordinate system W.

Coordinate Systems of Rigid Body

The fixed translation from system R to system L is given by the vector initialTranslation \([_R x_B, _R y_B, _R z_B]^T\) which coordinates are given in system R.

The fixed rotation between the systems R and L is given by the vector initialRotation \([\alpha_B, \beta_B, \gamma_B]^T\) which are the kardan angles of the transformation matrix

\[ A_{RL}= \textrm{cardan}(\alpha_B, \beta_B, \gamma_B) \]

from system L to system R.

The time dependend translation between the systems W and R is given in the HDF5 dataset by the vector \( [_W x_P, _W y_P, _W z_P]^T=_W r_P \) which coordinates are given in system W.

The time dependend rotation between the systems W and R is given in the HDF5 dataset by the vector \( [\alpha_P, \beta_P, \gamma_P] \) which are the kardan angles of the transformation matrix

\[ A_{WR}= \textrm{cardan}(\alpha_P, \beta_P, \gamma_P) \]

from system R to system W.

HDF5-Dataset: The HDF5 dataset of this object is a 2D array of double precision values. Each row represents one dataset in time. A row consists of the following columns in order: time, \( _W x_P \), \( _W y_P \), \( _W z_P \), \( \alpha_P \), \( \beta_P \), \( \gamma_P \), color

Member Function Documentation

◆ append()

template<typename T >

void OpenMBV::RigidBody::append ( const T & row )

inline

Append a data vector the the h5 datsset

◆ createHDF5File()

void OpenMBV::RigidBody::createHDF5File ( )

overrideprotectedvirtual

Reimplemented from OpenMBV::Body.

◆ getFullName()

string OpenMBV::RigidBody::getFullName ( )

overridevirtual

Returns the full name (path) of the object

Reimplemented from OpenMBV::Object.

◆ getRow()

std::vector< double > OpenMBV::RigidBody::getRow ( int i )

inlineoverridevirtual

Get row number i of the default data. NOTE: see also append()

Implements OpenMBV::Body.

◆ getRows()

int OpenMBV::RigidBody::getRows ( )

inlineoverridevirtual

Get the number of rows of the default data. Returns 0, if no default data is avaliable. NOTE: see also append()

Implements OpenMBV::Body.

◆ initializeUsingXML()

void OpenMBV::RigidBody::initializeUsingXML ( xercesc::DOMElement * element )

overridevirtual

Initializes the time invariant part of the object using a XML node

Reimplemented from OpenMBV::DynamicColoredBody.

Reimplemented in OpenMBV::Rotation, and OpenMBV::Sphere.

◆ openHDF5File()

void OpenMBV::RigidBody::openHDF5File ( )

overrideprotectedvirtual

Reimplemented from OpenMBV::Body.

◆ setDragger()

void OpenMBV::RigidBody::setDragger ( bool p )

inline

Draw dragger of this object in the viewer if true (default: false)

◆ setInitialRotation() [1/2]

void OpenMBV::RigidBody::setInitialRotation ( const std::vector< double > & initRot )

inline

Set initial rotation between the local frame of the body and the reference frame. Use cardan angles to represent the transformation matrix

◆ setInitialRotation() [2/2]

void OpenMBV::RigidBody::setInitialRotation	(	double	a,
		double	b,
		double	g
	)

inline

Set initial rotation between the local frame of the body and the reference frame. Use cardan angles to represent the transformation matrix

◆ setInitialTranslation() [1/2]

void OpenMBV::RigidBody::setInitialTranslation ( const std::vector< double > & initTrans )

inline

Set initial translaton between the local frame of the body and the reference frame

◆ setInitialTranslation() [2/2]

void OpenMBV::RigidBody::setInitialTranslation	(	double	x,
		double	y,
		double	z
	)

inline

Set initial translaton between the local frame of the body and the reference frame

◆ setLocalFrame()

void OpenMBV::RigidBody::setLocalFrame ( bool f )

inline

Draw local frame of this object in the viewer if true (the default)

◆ setPath()

void OpenMBV::RigidBody::setPath ( bool p )

inline

Draw path of this object in the viewer if true (the default)

◆ setReferenceFrame()

void OpenMBV::RigidBody::setReferenceFrame ( bool f )

inline

Draw reference frame of this object in the viewer if true (the default)

◆ setScaleFactor()

void OpenMBV::RigidBody::setScaleFactor ( double scale )

inline

Set the scale factor of the body

◆ writeXMLFile()

DOMElement * OpenMBV::RigidBody::writeXMLFile ( xercesc::DOMNode * parent )

overridevirtual

Reimplemented from OpenMBV::DynamicColoredBody.

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

/mbsim-env/openmbv/openmbvcppinterface/openmbvcppinterface/rigidbody.h
/mbsim-env/openmbv/openmbvcppinterface/openmbvcppinterface/rigidbody.cc

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ append()

◆ createHDF5File()

◆ getFullName()

◆ getRow()

◆ getRows()

◆ initializeUsingXML()

◆ openHDF5File()

◆ setDragger()

◆ setInitialRotation() [1/2]

◆ setInitialRotation() [2/2]

◆ setInitialTranslation() [1/2]

◆ setInitialTranslation() [2/2]

◆ setLocalFrame()

◆ setPath()

◆ setReferenceFrame()

◆ setScaleFactor()

◆ writeXMLFile()