Helper for building Dynamic Workcells. More...

#include <DynamicWorkCellBuilder.hpp>

Classes
struct	ColorScheme
	Color scheme specification. More...

struct	PaHColors
	Default color scheme. More...

Public Member Functions
	DynamicWorkCellBuilder (const ColorScheme &colors=PaHColors())
	Create new builder with given color scheme. More...

virtual	~DynamicWorkCellBuilder ()
	Destructor.

void	addFloor (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, const std::string &name="Floor", bool trimesh=false) const
	Add a fixed floor. More...

void	addPlane (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, const rw::math::Vector3D<> &n, double d, const std::string &name="Plane", bool trimesh=false) const
	Add a fixed plane. More...

void	addBall (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double radius, double density, const std::string &name="Ball", const std::string &parent="WORLD") const
	Add a dynamic ball. More...

void	addBallFixed (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double radius, const std::string &name="Ball", const std::string &parent="WORLD") const
	Add a fixed ball. More...

void	addCylinder (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double radius, double height, double density, const std::string &name="Cylinder", const std::string &parent="WORLD", bool trimesh=false) const
	Add a dynamic cylinder. More...

void	addCylinderFixed (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double radius, double height, const std::string &name="Cylinder", const std::string &parent="WORLD", bool trimesh=false) const
	Add a fixed cylinder. More...

void	addTube (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double radius, double thickness, double height, double density, const std::string &name="Tube", bool trimesh=false) const
	Add a dynamic tube. More...

void	addBox (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double x, double y, double z, double density, const std::string &name="Box", bool trimesh=false) const
	Add a dynamic box. More...

void	addBoxKin (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double x, double y, double z, const std::string &name="Box", bool trimesh=false) const
	Add a kinematic box. More...

Static Public Member Functions
static rwsim::dynamics::BodyInfo	defaultInfo ()
	Construct default body info. More...

static void	defaultInfo (rwsim::dynamics::BodyInfo &info)
	Insert default info into existing body info. More...

static void	ballInfo (rwsim::dynamics::BodyInfo &info, double radius, double density)
	Add mass properties for a ball. More...

static void	cylinderInfo (rwsim::dynamics::BodyInfo &info, double radius, double height, double density)
	Add mass properties for a cylinder. More...

static void	tubeInfo (rwsim::dynamics::BodyInfo &info, double radius, double thickness, double height, double density)
	Add mass properties for a tube. More...

static void	boxInfo (rwsim::dynamics::BodyInfo &info, double x, double y, double z, double density)
	Add mass properties for a box. More...

static void	addMaterialData (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, double friction=0, double restitution=0)
	Add material data to the dynamic workcell. More...

static void	contactsExclude (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, const std::string &bodyA, const std::string &bodyB)
	Exclude pairs of bodies from contact detection. More...

Detailed Description

Helper for building Dynamic Workcells.

Constructor & Destructor Documentation

◆ DynamicWorkCellBuilder()

DynamicWorkCellBuilder ( const ColorScheme & colors = PaHColors() )

Create new builder with given color scheme.

Parameters

colors [in] the colors to use.

Member Function Documentation

◆ addBall()

void addBall	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	radius,
		double	density,
		const std::string &	name = `"Ball"`,
		const std::string &	parent = `"WORLD"`
	)		const

Add a dynamic ball.

Parameters

dwc	[in] the dynamic workcell to add new body to.
radius	[in] radius of the ball.
density	[in] the mass density.
name	[in] (optional) the name of the body - default is Ball.
parent	[in] (optional) the name of the parent frame - default is WORLD.

◆ addBallFixed()

void addBallFixed	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	radius,
		const std::string &	name = `"Ball"`,
		const std::string &	parent = `"WORLD"`
	)		const

Add a fixed ball.

Parameters

dwc	[in] the dynamic workcell to add new body to.
radius	[in] radius of the ball.
name	[in] (optional) the name of the body - default is Ball.
parent	[in] (optional) the name of the parent frame - default is WORLD.

◆ addBox()

void addBox	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	x,
		double	y,
		double	z,
		double	density,
		const std::string &	name = `"Box"`,
		bool	trimesh = `false`
	)		const

Add a dynamic box.

Parameters

dwc	[in] the dynamic workcell to add new body to.
x	[in] side length.
y	[in] side length.
z	[in] side length.
density	[in] the mass density.
name	[in] (optional) the name of the body - default is Box.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addBoxKin()

void addBoxKin	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	x,
		double	y,
		double	z,
		const std::string &	name = `"Box"`,
		bool	trimesh = `false`
	)		const

Add a kinematic box.

Parameters

dwc	[in] the dynamic workcell to add new body to.
x	[in] side length.
y	[in] side length.
z	[in] side length.
name	[in] (optional) the name of the body - default is Box.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addCylinder()

void addCylinder	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	radius,
		double	height,
		double	density,
		const std::string &	name = `"Cylinder"`,
		const std::string &	parent = `"WORLD"`,
		bool	trimesh = `false`
	)		const

Add a dynamic cylinder.

Parameters

dwc	[in] the dynamic workcell to add new body to.
radius	[in] radius of the cylinder.
height	[in] the length of the cylinder.
density	[in] the mass density.
name	[in] (optional) the name of the body - default is Cylinder.
parent	[in] (optional) the name of the parent frame - default is WORLD.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addCylinderFixed()

void addCylinderFixed	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	radius,
		double	height,
		const std::string &	name = `"Cylinder"`,
		const std::string &	parent = `"WORLD"`,
		bool	trimesh = `false`
	)		const

Add a fixed cylinder.

Parameters

dwc	[in] the dynamic workcell to add new body to.
radius	[in] radius of the cylinder.
height	[in] the length of the cylinder.
name	[in] (optional) the name of the body - default is Cylinder.
parent	[in] (optional) the name of the parent frame - default is WORLD.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addFloor()

void addFloor	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		const std::string &	name = `"Floor"`,
		bool	trimesh = `false`
	)		const

Add a fixed floor.

Parameters

dwc	[in] the dynamic workcell to add new body to.
name	[in] (optional) the name of the body - default is Floor.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addMaterialData()

static void addMaterialData	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	friction = `0`,
		double	restitution = `0`
	)

static

Add material data to the dynamic workcell.

Parameters

dwc	[in] the dynamic workcell to add data to.
friction	[in] (optional) the friction coefficient - default is 0.
restitution	[in] (optional) the restitution coefficient - default is 0.

◆ addPlane()

void addPlane	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		const rw::math::Vector3D<> &	n,
		double	d,
		const std::string &	name = `"Plane"`,
		bool	trimesh = `false`
	)		const

Add a fixed plane.

Parameters

dwc	[in] the dynamic workcell to add new body to.
n	[in] the normal.
d	[in] the distance.
name	[in] (optional) the name of the body - default is Plane.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ addTube()

void addTube	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		double	radius,
		double	thickness,
		double	height,
		double	density,
		const std::string &	name = `"Tube"`,
		bool	trimesh = `false`
	)		const

Add a dynamic tube.

Parameters

dwc	[in] the dynamic workcell to add new body to.
radius	[in] radius of the tube.
thickness	[in] the thickness of the tube.
height	[in] the length of the tube.
density	[in] the mass density.
name	[in] (optional) the name of the body - default is Tube.
trimesh	[in] (optional) use a trimesh to represent the geometry.

◆ ballInfo()

static void ballInfo	(	rwsim::dynamics::BodyInfo &	info,
		double	radius,
		double	density
	)

static

Add mass properties for a ball.

Parameters

info	[in/out] the body info to update.
radius	[in] the radius of the ball.
density	[in] the mass density.

◆ boxInfo()

static void boxInfo	(	rwsim::dynamics::BodyInfo &	info,
		double	x,
		double	y,
		double	z,
		double	density
	)

static

Add mass properties for a box.

Parameters

info	[in/out] the body info to update.
x	[in] side length.
y	[in] side length.
z	[in] side length.
density	[in] the mass density.

◆ contactsExclude()

static void contactsExclude	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		const std::string &	bodyA,
		const std::string &	bodyB
	)

static

Exclude pairs of bodies from contact detection.

Parameters

dwc	[in] dynamic workcell to add information to.
bodyA	[in] pattern of the first name.
bodyB	[in] pattern of the second name.

◆ cylinderInfo()

static void cylinderInfo	(	rwsim::dynamics::BodyInfo &	info,
		double	radius,
		double	height,
		double	density
	)

static

Add mass properties for a cylinder.

Parameters

info	[in/out] the body info to update.
radius	[in] the radius.
height	[in] the length of the cylinder.
density	[in] the mass density.

◆ defaultInfo() [1/2]

static rwsim::dynamics::BodyInfo defaultInfo ( )

static

Construct default body info.

Returns: default body info.

◆ defaultInfo() [2/2]

static void defaultInfo ( rwsim::dynamics::BodyInfo & info )

static

Insert default info into existing body info.

Parameters

info	[in/out] the body info to update.

◆ tubeInfo()

static void tubeInfo	(	rwsim::dynamics::BodyInfo &	info,
		double	radius,
		double	thickness,
		double	height,
		double	density
	)

static

Add mass properties for a tube.

Parameters

info	[in/out] the body info to update.
radius	[in] the radius.
thickness	[in] the thickness of the tube.
height	[in] the length of the tube.
density	[in] the mass density.

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

DynamicWorkCellBuilder.hpp

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DynamicWorkCellBuilder()

Member Function Documentation

◆ addBall()

◆ addBallFixed()

◆ addBox()

◆ addBoxKin()

◆ addCylinder()

◆ addCylinderFixed()

◆ addFloor()

◆ addMaterialData()

◆ addPlane()

◆ addTube()

◆ ballInfo()

◆ boxInfo()

◆ contactsExclude()

◆ cylinderInfo()

◆ defaultInfo() [1/2]

◆ defaultInfo() [2/2]

◆ tubeInfo()