Log a set of contact forces and torques. More...

#include <LogContactForceTorque.hpp>

Public Types
typedef rw::core::Ptr< LogContactForceTorque >	Ptr
	Smart pointer type of LogContactForceTorque.

Public Types inherited from LogForceTorque
typedef rw::core::Ptr< LogForceTorque >	Ptr
	Smart pointer type of LogForceTorque.

Public Types inherited from SimulatorLogEntry
typedef rw::core::Ptr< SimulatorLogEntry >	Ptr
	Smart pointer type of SimulatorLogEntry.

Public Types inherited from SimulatorLog
typedef rw::core::Ptr< SimulatorLog >	Ptr
	Smart pointer type of SimulatorLog.

typedef rw::core::Ptr< const SimulatorLog >	CPtr
	Smart pointer type of const SimulatorLog.

Public Member Functions
	LogContactForceTorque (SimulatorLogScope *parent)
	Constructor. More...

virtual	~LogContactForceTorque ()
	Destructor.

virtual std::string	getType () const
	Get a textual representation of the type of the item. More...

virtual bool	operator== (const SimulatorLog &b) const
	Check if logs are identical. More...

virtual std::list< SimulatorLogEntry::Ptr >	getLinkedEntries () const
	Get a list of other entries that this entry is linked to. More...

virtual bool	autoLink ()
	Do automatic linking to other entries. More...

virtual SimulatorLogEntry::Ptr	createNew (SimulatorLogScope *parent) const
	Create a new entry of the same type (no data is copied). More...

virtual int	sizeLinkedEntry () const
	Get the size of the linked entry (if any). More...

virtual const std::string &	getNameA (std::size_t i) const
	Get name of the first object. More...

virtual const std::string &	getNameB (std::size_t i) const
	Get name of the second object. More...

virtual rw::math::Vector3D	getPositionA (std::size_t i) const
	Get anchor position on the first object. More...

virtual rw::math::Vector3D	getPositionB (std::size_t i) const
	Get anchor position on the second object. More...

rw::core::Ptr< LogContactSet >	getContacts () const
	Get the positions of the contacts. More...

Public Member Functions inherited from LogForceTorque
	LogForceTorque (SimulatorLogScope *parent)
	Constructor. More...

virtual	~LogForceTorque ()
	Destructor.

virtual void	read (class rw::common::InputArchive &iarchive, const std::string &id)

virtual void	write (class rw::common::OutputArchive &oarchive, const std::string &id) const

rw::math::Wrench6D	getWrenchBodyA (std::size_t i) const
	Get the contact wrench acting at the first body. More...

rw::math::Wrench6D	getWrenchBodyB (std::size_t i) const
	Get the contact wrench acting at the second body. More...

void	setWrench (std::size_t i, const rw::math::Wrench6D<> &wrenchA, const rw::math::Wrench6D<> &wrenchB)
	Set a given wrench pair. More...

Public Member Functions inherited from SimulatorLogEntry
	SimulatorLogEntry (SimulatorLogScope *parent)
	Constructor. More...

virtual	~SimulatorLogEntry ()
	Destructor.

virtual std::size_t	children () const
	Get the number of children under this log item. More...

virtual int	line () const
	Get the line number in the file where this entry was added. More...

virtual void	setLine (int line)
	Set the line number where this entry was added. More...

Public Member Functions inherited from SimulatorLog
	SimulatorLog (SimulatorLogScope *parent=NULL)
	Constructor. More...

virtual	~SimulatorLog ()
	Destructor.

virtual SimulatorLogScope *	getParent () const
	Get the parent of this log item. More...

virtual bool	operator!= (const SimulatorLog &b) const
	Check if logs are non-identical. More...

virtual std::string	getFilename () const
	Get the full filename with path for where this log entry was created. More...

virtual void	setFilename (const std::string &file)
	Set the name of the file where this log entry was created. More...

virtual void	setFilename (const char *file)
	Set the name of the file where this log entry was created. More...

virtual std::string	getDescription () const
	Get a string describing this entry. More...

virtual void	setDescription (const std::string &description)
	Set a very short description of this entry. More...

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

Static Public Member Functions
static std::string	getTypeID ()
	Get the type id of this entry type. More...

Detailed Description

Log a set of contact forces and torques.

Constructor & Destructor Documentation

◆ LogContactForceTorque()

LogContactForceTorque ( SimulatorLogScope * parent )

Constructor.

Note: This item will not be added as a child to the parent scope using this constructor.

Parameters

parent the parent of this log item.

Member Function Documentation

◆ autoLink()

virtual bool autoLink ( )

virtual

Do automatic linking to other entries.

Returns: true if linking succeeded, false otherwise.

Implements LogForceTorque.

◆ createNew()

virtual SimulatorLogEntry::Ptr createNew ( SimulatorLogScope * parent ) const

virtual

Create a new entry of the same type (no data is copied).

Parameters

parent the parent of the new entry.

Returns: the new entry.

Implements LogForceTorque.

◆ getContacts()

rw::core::Ptr<LogContactSet> getContacts ( ) const

Get the positions of the contacts.

This is similar to getLinkedEntries.

Returns: the log entry with positions of contacts (or NULL if not linked).

◆ getLinkedEntries()

virtual std::list<SimulatorLogEntry::Ptr> getLinkedEntries ( ) const

virtual

Get a list of other entries that this entry is linked to.

Using linked entries makes it possible to avoid logging too much redundant information.

Returns: a list of linked entries.

Implements LogForceTorque.

◆ getNameA()

virtual const std::string& getNameA ( std::size_t i ) const

virtual

Get name of the first object.

Parameters

i	[in] the index.

Returns: the name or an empty string if not linked properly.

Implements LogForceTorque.

◆ getNameB()

virtual const std::string& getNameB ( std::size_t i ) const

virtual

Get name of the second object.

Parameters

i	[in] the index.

Returns: the name or an empty string if not linked properly.

Implements LogForceTorque.

◆ getPositionA()

virtual rw::math::Vector3D getPositionA ( std::size_t i ) const

virtual

Get anchor position on the first object.

Parameters

i	[in] the index.

Returns: the anchor point or zero if not linked.

Implements LogForceTorque.

◆ getPositionB()

virtual rw::math::Vector3D getPositionB ( std::size_t i ) const

virtual

Get anchor position on the second object.

Parameters

i	[in] the index.

Returns: the anchor point or zero if not linked.

Implements LogForceTorque.

◆ getType()

virtual std::string getType ( ) const

virtual

Get a textual representation of the type of the item.

Returns: the type of item as a string.

Implements LogForceTorque.

◆ getTypeID()

static std::string getTypeID ( )

static

Get the type id of this entry type.

Returns: the type id.

◆ operator==()

virtual bool operator== ( const SimulatorLog & b ) const

virtual

Check if logs are identical.

Parameters

b	[in] other log to compare with.

Returns: true if identical, false otherwise.

Reimplemented from LogForceTorque.

◆ sizeLinkedEntry()

virtual int sizeLinkedEntry ( ) const

virtual

Get the size of the linked entry (if any).

Returns: size of the linked entry or negative value if not linked.

Implements LogForceTorque.

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

LogContactForceTorque.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LogContactForceTorque()

Member Function Documentation

◆ autoLink()

◆ createNew()

◆ getContacts()

◆ getLinkedEntries()

◆ getNameA()

◆ getNameB()

◆ getPositionA()

◆ getPositionB()

◆ getType()

◆ getTypeID()

◆ operator==()

◆ sizeLinkedEntry()