Package org.robwork.sdurw

Class RigidObject

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw.Object

org.robwork.sdurw.RigidObject

public class RigidObject
extends Object

the RigidObject defines a physical object in the workcell that is rigid in the sence that
the geometry does not change. The rigid object also have basic properties such as Inertia and mass.
These are default 1.0 kg and inertia of solid sphere with mass 1.0kg and radius of 10cm. The center
of mass defaults to origin of the base frame.

Constructor Summary

Constructors

Constructor	Description
RigidObject(long cPtr, boolean cMemoryOwn)
RigidObject(Frame baseframe)	constructor
RigidObject(Frame baseframe, GeometryPtr geom)	constructor
RigidObject(Frame baseframe, GeometryPtrVector geom)	constructor
RigidObject(FrameVector frames)	constructor
RigidObject(FrameVector frames, GeometryPtr geom)	constructor
RigidObject(FrameVector frames, GeometryPtrVector geom)	constructor

Method Summary

Modifier and Type	Method	Description
void	addGeometry(GeometryPtr geom)	add collision geometry from this object
void	addModel(Model3DPtr model)	add visualization model to this object
void	approximateInertia()	approximates inertia based on geometry, mass and center of mass properties
void	approximateInertiaCOM()	approximates inertia and center of mass based on geometry and mass properties
void	delete()
Vector3Dd	getCOM(State state)	get center of mass of this object
static long	getCPtr(RigidObject obj)
GeometryPtrVector	getGeometry()	get geometry of this rigid object
InertiaMatrixd	getInertia()	get the inertia matrix of this rigid body seen in the base frame
InertiaMatrixd	getInertia(State state)	returns the inertia matrix of this body calculated around COM with the orientation of the base frame.
double	getMass()	returns the mass of this RigidObject
double	getMass(State state)	get mass in Kg of this object
Model3DPtrVector	getModels()	get visualization models for this rigid object
void	removeGeometry(GeometryPtr geom)	remove collision geometry from this object
void	removeModel(Model3DPtr model)	remove visualization model to this rigid object
void	setCOM(Vector3Dd com)	set the center of mass of this rigid body seen in the base frame
void	setInertia(InertiaMatrixd inertia)	set inertia of this rigid object
void	setMass(double mass)	set mass of this RigidObject

Methods inherited from class org.robwork.sdurw.Object

addFrame, getBase, getCPtr, getFrames, getGeometry, getModels, getName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RigidObject

public RigidObject(long cPtr,
                   boolean cMemoryOwn)

RigidObject

public RigidObject(Frame baseframe)

constructor

RigidObject

public RigidObject(Frame baseframe,
                   GeometryPtr geom)

constructor

Parameters:

geom - [in] the Geometry Forming the object

RigidObject

public RigidObject(Frame baseframe,
                   GeometryPtrVector geom)

constructor

Parameters:

geom - [in] a list of geometries to form the object

RigidObject

public RigidObject(FrameVector frames)

constructor

Parameters:

frames - [in] first frame is base frame of the object

RigidObject

public RigidObject(FrameVector frames,
                   GeometryPtr geom)

constructor

Parameters:

frames - [in] first frame is base frame of the object

geom - [in] the Geometry Forming the object

RigidObject

public RigidObject(FrameVector frames,
                   GeometryPtrVector geom)

constructor

Parameters:

frames - [in] first frame is base frame of the object

geom - [in] a list of geometries to form the object

Method Detail

getCPtr

public static long getCPtr(RigidObject obj)

delete

public void delete()

Overrides:

delete in class Object

addGeometry

public void addGeometry(GeometryPtr geom)

add collision geometry from this object

Parameters:

geom - the geometry to add

removeGeometry

public void removeGeometry(GeometryPtr geom)

remove collision geometry from this object

Parameters:

geom - [in] the geometry to remove

addModel

public void addModel(Model3DPtr model)

add visualization model to this object

Parameters:

model - [in] the model to be added

removeModel

public void removeModel(Model3DPtr model)

remove visualization model to this rigid object

Parameters:

model - [in] the model to be removed

getMass

public double getMass()

returns the mass of this RigidObject

Returns:

mass of the Object

setMass

public void setMass(double mass)

set mass of this RigidObject

Parameters:

mass - [in] the mass of this object

getInertia

public InertiaMatrixd getInertia()

get the inertia matrix of this rigid body seen in the base frame

Returns:

IntertiaMatrix

setInertia

public void setInertia(InertiaMatrixd inertia)

set inertia of this rigid object

setCOM

public void setCOM(Vector3Dd com)

set the center of mass of this rigid body seen in the base frame

approximateInertia

public void approximateInertia()

approximates inertia based on geometry, mass and center of mass properties

approximateInertiaCOM

public void approximateInertiaCOM()

approximates inertia and center of mass based on geometry and mass properties

getGeometry

public GeometryPtrVector getGeometry()

get geometry of this rigid object

Overrides:

getGeometry in class Object

Returns:

a list of all Geometries

getModels

public Model3DPtrVector getModels()

get visualization models for this rigid object

Overrides:

getModels in class Object

Returns:

a list of all models

getMass

public double getMass(State state)

Description copied from class: Object

get mass in Kg of this object

Overrides:

getMass in class Object

Returns:

mass in kilo grams

getInertia

public InertiaMatrixd getInertia(State state)

Description copied from class: Object

returns the inertia matrix of this body calculated around COM with the orientation
of the base frame.

Overrides:

getInertia in class Object

getCOM

public Vector3Dd getCOM(State state)

Description copied from class: Object

get center of mass of this object

Overrides:

getCOM in class Object

Parameters:

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

Returns: