RenderForceTorque Class Reference

RenderForceTorque makes a visualization of forces and torques. More...

#include <RenderForceTorque.hpp>

Inherits Render.

Public Types
typedef rw::core::Ptr< RenderForceTorque >	Ptr
	smart pointer type to this class
Public Types inherited from Render
typedef rw::core::Ptr< Render >	Ptr
	smart pointer type to this class
typedef DrawableNode::DrawType	DrawType
	when calling render on the draw mode or type can be specified. See DrawableNode::DrawType

Public Member Functions
	RenderForceTorque ()
	Constructs a RenderForceTorque.
virtual	~RenderForceTorque ()
	Destructor.
rw::math::Vector3D	getForce () const
	Get the force currently set. More...
rw::math::Vector3D	getTorque () const
	Get the torque currently set. More...
float	getScaleForce () const
	Get the current scaling of the force vector in meters per Newton. More...
float	getScaleTorque () const
	Get the current scaling of the torque vector in meters per Newton meter. More...
void	setForce (rw::math::Vector3D<> force)
	Set the force. More...
void	setTorque (rw::math::Vector3D<> torque)
	Set the torque. More...
void	setScaleForce (float scale)
	Set the current scaling of the force vector in meters per Newton. More...
void	setScaleTorque (float scale)
	Set the current scaling of the torque vector in meters per Newton meter. More...
void	setScales (float scaleForce, float scaleTorque)
	Set the current scaling of the force and torque arrows in meters per unit. More...
rw::math::Vector3D< float >	getColorForce () const
	Get the current color used for the force arrow. More...
rw::math::Vector3D< float >	getColorTorque () const
	Get the current color used for the torque arrow. More...
void	setColorForce (float r, float g, float b)
	Sets color of the force arrow. More...
void	setColorTorque (float r, float g, float b)
	Sets color of the torque arrow. More...
void	draw (const rw::graphics::DrawableNode::RenderInfo &info, rw::graphics::DrawableNode::DrawType type, double alpha) const
Public Member Functions inherited from Render
virtual	~Render ()
	destructor

Additional Inherited Members
Protected Member Functions inherited from Render
	Render ()
	Only instances of classes inheriting Render is allowed.

Detailed Description

RenderForceTorque makes a visualization of forces and torques.

Member Function Documentation

draw()

void draw ( const rw::graphics::DrawableNode::RenderInfo &  info, rw::graphics::DrawableNode::DrawType  type, double  alpha  ) const

virtual

Parameters

info	[in] state and rendering specific info
type	[in] the drawtype which is being used
alpha	[in] the alpha value to render with

Implements Render.

getColorForce()

rw::math::Vector3D<float> getColorForce

(

)

const

Get the current color used for the force arrow.

Returns

the color as (r,g,b) vector.

getColorTorque()

rw::math::Vector3D<float> getColorTorque

(

)

const

Get the current color used for the torque arrow.

Returns

the color as (r,g,b) vector.

getForce()

rw::math::Vector3D getForce

(

)

const

Get the force currently set.

Returns

the force.

getScaleForce()

float getScaleForce

(

)

const

Get the current scaling of the force vector in meters per Newton.

Returns

the scale factor

getScaleTorque()

float getScaleTorque

(

)

const

Get the current scaling of the torque vector in meters per Newton meter.

Returns

the scale factor

getTorque()

rw::math::Vector3D getTorque

(

)

const

Get the torque currently set.

Returns

the torque.

setColorForce()

void setColorForce	(	float	r,
		float	g,
		float	b
	)

Sets color of the force arrow.

Parameters

r	[in] red color component
g	[in] green color component
b	[in] blue color component

setColorTorque()

void setColorTorque	(	float	r,
		float	g,
		float	b
	)

Sets color of the torque arrow.

Parameters

r	[in] red color component
g	[in] green color component
b	[in] blue color component

setForce()

void setForce

(

rw::math::Vector3D<>

force

)

Set the force.

Parameters

force

[in] the force

setScaleForce()

void setScaleForce

(

float

scale

)

Set the current scaling of the force vector in meters per Newton.

Parameters

scale

[in] the scale factor

setScales()

void setScales	(	float	scaleForce,
		float	scaleTorque
	)

Set the current scaling of the force and torque arrows in meters per unit.

Parameters

scaleForce	[in] the scale factor for force
scaleTorque	[in] the scale factor for torque

setScaleTorque()

void setScaleTorque

(

float

scale

)

Set the current scaling of the torque vector in meters per Newton meter.

Parameters

scale

[in] the scale factor

setTorque()

void setTorque

(

rw::math::Vector3D<>

torque

)

Set the torque.

Parameters

torque

[in] the torque

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

• RenderForceTorque.hpp