The object class represents a physical thing in the scene which has geometry. An object has a base frame (similar to a Device) and may have a number of associated frames. More...

#include <Object.hpp>

Inherits Stateless.

Inherited by DeformableObject, and RigidObject.

Public Types
typedef rw::core::Ptr< Object >	Ptr
	smart pointer

typedef rw::core::Ptr< const Object >	CPtr
	const smart pointer

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
virtual	~Object ()
	destructor

const std::string &	getName ()
	get name of this object. Name is always the same as the name of the base frame. More...

rw::kinematics::Frame *	getBase ()
	get base frame of this object More...

const rw::kinematics::Frame *	getBase () const
	get base frame of this object More...

const std::vector< rw::kinematics::Frame * > &	getFrames ()
	get all associated frames of this object More...

void	addFrame (rw::core::Ptr< rw::kinematics::Frame > frame)
	associate a frame to this Object. More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry () const
	get default geometries More...

const std::vector< rw::geometry::Model3D::Ptr > &	getModels () const
	get the default models More...

const std::vector< rw::geometry::Geometry::Ptr > &	getGeometry (const rw::kinematics::State &state) const
	get geometry of this object More...

const std::vector< rw::geometry::Model3D::Ptr > &	getModels (const rw::kinematics::State &state) const
	get visualization models of this object More...

virtual double	getMass (const rw::kinematics::State &state) const =0
	get mass in Kg of this object More...

virtual rw::math::Vector3D< double >	getCOM (const rw::kinematics::State &state) const =0
	get center of mass of this object More...

virtual rw::math::InertiaMatrix	getInertia (const rw::kinematics::State &state) const =0
	returns the inertia matrix of this body calculated around COM with the orientation of the base frame.

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Protected Member Functions
	Object (rw::core::Ptr< rw::kinematics::Frame > baseframe)
	constructor

	Object (std::vector< rw::kinematics::Frame * > frames)
	constructor - first frame is base

virtual const std::vector< rw::geometry::Geometry::Ptr > &	doGetGeometry (const rw::kinematics::State &state) const =0
	get geometry of this object More...

virtual const std::vector< rw::geometry::Model3D::Ptr > &	doGetModels (const rw::kinematics::State &state) const =0
	get visualization models of this object More...

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Friends
class	WorkCell

Additional Inherited Members
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

The object class represents a physical thing in the scene which has geometry. An object has a base frame (similar to a Device) and may have a number of associated frames.

Member Function Documentation

◆ addFrame()

void addFrame ( rw::core::Ptr< rw::kinematics::Frame > frame )

associate a frame to this Object.

Parameters

frame [in] frame to associate to object

◆ doGetGeometry()

virtual const std::vector<rw::geometry::Geometry::Ptr>& doGetGeometry ( const rw::kinematics::State & state ) const

protectedpure virtual

get geometry of this object

Returns: geometry for collision detection.

Implemented in RigidObject, and DeformableObject.

◆ doGetModels()

virtual const std::vector<rw::geometry::Model3D::Ptr>& doGetModels ( const rw::kinematics::State & state ) const

protectedpure virtual

get visualization models of this object

Returns: models for visualization

Implemented in RigidObject, and DeformableObject.

◆ getBase() [1/2]

rw::kinematics::Frame* getBase ( )

get base frame of this object

Returns: base frame of object

◆ getBase() [2/2]

const rw::kinematics::Frame* getBase ( ) const

get base frame of this object

Returns: base frame of object

◆ getCOM()

virtual rw::math::Vector3D<double> getCOM ( const rw::kinematics::State & state ) const

pure virtual

get center of mass of this object

Parameters

state [in] the state in which to get center of mass

Returns

Implemented in RigidObject, and DeformableObject.

◆ getFrames()

const std::vector<rw::kinematics::Frame*>& getFrames ( )

get all associated frames of this object

Returns: a vector of frames

◆ getGeometry() [1/2]

const std::vector<rw::geometry::Geometry::Ptr>& getGeometry ( ) const

inline

get default geometries

Returns: geometry for collision detection

◆ getGeometry() [2/2]

const std::vector<rw::geometry::Geometry::Ptr>& getGeometry ( const rw::kinematics::State & state ) const

inline

get geometry of this object

Returns: geometry for collision detection.

◆ getMass()

virtual double getMass ( const rw::kinematics::State & state ) const

pure virtual

get mass in Kg of this object

Parameters

state [in] the state in which the mass should be gotten from

Returns: mass in kilo grams

Implemented in RigidObject, and DeformableObject.

◆ getModels() [1/2]

const std::vector<rw::geometry::Model3D::Ptr>& getModels ( ) const

inline

get the default models

Returns: models for vizualization

◆ getModels() [2/2]

const std::vector<rw::geometry::Model3D::Ptr>& getModels ( const rw::kinematics::State & state ) const

inline

get visualization models of this object

Returns: models for visualization

◆ getName()

const std::string& getName ( )

inline

get name of this object. Name is always the same as the name of the base frame.

Returns: name of object.

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

Object.hpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addFrame()

◆ doGetGeometry()

◆ doGetModels()

◆ getBase() [1/2]

◆ getBase() [2/2]

◆ getCOM()

◆ getFrames()

◆ getGeometry() [1/2]

◆ getGeometry() [2/2]

◆ getMass()

◆ getModels() [1/2]

◆ getModels() [2/2]

◆ getName()