#include <Body.h>

Inheritance diagram for cnoid::Body:

Classes
class	ContainerWrapper

Public Member Functions
	Body ()

	Body (const std::string &name)

	Body (const Body &org)=delete

virtual	~Body ()

void	copyFrom (const Body org, CloneMap cloneMap=nullptr)

Body *	clone () const

Body *	clone (CloneMap &cloneMap) const

virtual Link *	createLink (const Link *org=nullptr) const

const std::string &	name () const

void	setName (const std::string &name)

const std::string &	modelName () const

void	setModelName (const std::string &name)

void	setRootLink (Link *link)

void	expandLinkOffsetRotations ()

void	updateLinkTree ()

void	initializePosition ()

virtual void	initializeState ()

Body *	parentBody () const

Link *	parentBodyLink () const

void	setParent (Link *parentBodyLink)

void	resetParent ()

void	syncPositionWithParentBody (bool doForwardKinematics=true)

int	numLinks () const

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	linkTraverse () const

const std::vector< Link * > &	links () const

Link *	rootLink () const

Link *	findUniqueEndLink () const

Link *	lastSerialLink () const

int	numJoints () const

int	numVirtualJoints () const

int	numAllJoints () const

Link *	joint (int id) const

Link *	joint (const std::string &name) const

ContainerWrapper< std::vector< LinkPtr > >	joints ()

const std::vector< LinkPtr > &	allJoints () const

int	numDevices () const

Device *	device (int index) const

const DeviceList &	devices () const

template<class DeviceType >
DeviceList< DeviceType >	devices () const

template<class DeviceType >
DeviceType *	findDevice (const std::string &name) const

template<class DeviceType >
DeviceType *	findDevice () const

Device *	findDevice (const std::string &name) const

void	addDevice (Device device, Link link)

void	addDevice (Device *device)

void	removeDevice (Device *device)

void	clearDevices ()

void	sortDevicesByLinkOrder ()

void	initializeDeviceStates ()

bool	isStaticModel () const

bool	isFixedRootModel () const

void	resetDefaultPosition (const Isometry3 &T)

const Isometry3 &	defaultPosition () const

double	mass () const

const Vector3 &	calcCenterOfMass ()

const Vector3 &	centerOfMass () const

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	clearExternalForces ()

int	numExtraJoints () const

ExtraJoint &	extraJoint (int index)

const ExtraJoint &	extraJoint (int index) const

void	addExtraJoint (const ExtraJoint &extraJoint)

void	clearExtraJoints ()

const Mapping *	info () const

Mapping *	info ()

template<typename T >
T	info (const std::string &key) const

template<typename T >
T	info (const std::string &key, const T &defaultValue) const

template<typename T >
void	setInfo (const std::string &key, const T &value)

void	resetInfo (Mapping *info)

void	cloneShapes (CloneMap &cloneMap)

template<class T >
T *	findCache (const std::string &name)

template<class T >
const T *	findCache (const std::string &name) const

template<class T >
T *	getOrCreateCache (const std::string &name)

void	setCache (const std::string &name, Referenced *cache)

bool	getCaches (PolymorphicReferencedArrayBase<> &out_caches, std::vector< std::string > &out_names) const

void	removeCache (const std::string &name)

void	setCurrentTimeFunction (std::function< double()> func)

double	currentTime () const

bool	addHandler (BodyHandler *handler, bool isTopPriority=false)

template<class BodyHandlerType >
BodyHandlerType *	findHandler ()

int	numHandlers () const

BodyHandler *	handler (int index)

BodyCustomizerHandle	customizerHandle () const

BodyCustomizerInterface *	customizerInterface () const

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	hasVirtualJointForces () const

void	setVirtualJointForces (double timeStep=0.0)

void	resetLinkName (Link *link, const std::string &name)

void	resetJointSpecificName (Link *link)

void	resetJointSpecificName (Link *link, const std::string &name)

template<>
double	info (const std::string &key) const

template<>
double	info (const std::string &key, const double &defaultValue) const

template<>
bool	info (const std::string &key, const bool &defaultValue) const

template<>
void	setInfo (const std::string &key, const double &value)

template<>
void	setInfo (const std::string &key, const bool &value)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Member Functions
static void	addCustomizerDirectory (const std::string &path)

static BodyInterface *	bodyInterface ()

Protected Member Functions
	Body (Link *rootLink)

virtual Referenced *	doClone (CloneMap *cloneMap) const override

Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &)

int	refCount () const

Constructor & Destructor Documentation

◆ Body() [1/4]

Body::Body ( )

◆ Body() [2/4]

Body::Body ( const std::string & name )

◆ Body() [3/4]

cnoid::Body::Body ( const Body & org )

delete

◆ ~Body()

Body::~Body ( )

virtual

◆ Body() [4/4]

Body::Body ( Link * rootLink )

protected

Member Function Documentation

◆ addCustomizerDirectory()

void Body::addCustomizerDirectory ( const std::string & path )

static

◆ addDevice() [1/2]

void Body::addDevice ( Device * device )

◆ addDevice() [2/2]

void Body::addDevice	(	Device *	device,
		Link *	link
	)

◆ addExtraJoint()

void cnoid::Body::addExtraJoint ( const ExtraJoint & extraJoint )

inline

◆ addHandler()

bool Body::addHandler	(	BodyHandler *	handler,
		bool	isTopPriority = `false`
	)

◆ allJoints()

const std::vector<LinkPtr>& cnoid::Body::allJoints ( ) const

inline

◆ bodyInterface()

BodyInterface * Body::bodyInterface ( )

static

◆ calcCenterOfMass()

const Vector3 & Body::calcCenterOfMass ( )

◆ calcForwardKinematics()

void cnoid::Body::calcForwardKinematics	(	bool	calcVelocity = `false`,
		bool	calcAcceleration = `false`
	)

inline

◆ calcTotalMomentum()

void Body::calcTotalMomentum	(	Vector3 &	out_P,
		Vector3 &	out_L
	)

assuming Link::v,w is already computed by calcForwardKinematics(true); assuming Link::wc is already computed by calcCenterOfMass();

◆ centerOfMass()

const Vector3 & Body::centerOfMass ( ) const

◆ clearDevices()

void Body::clearDevices ( )

◆ clearExternalForces()

void Body::clearExternalForces ( )

◆ clearExtraJoints()

void cnoid::Body::clearExtraJoints ( )

inline

◆ clone() [1/2]

Body* cnoid::Body::clone ( ) const

inline

◆ clone() [2/2]

Body* cnoid::Body::clone ( CloneMap & cloneMap ) const

inline

◆ cloneShapes()

void Body::cloneShapes ( CloneMap & cloneMap )

◆ copyFrom()

void Body::copyFrom	(	const Body *	org,
		CloneMap *	cloneMap = `nullptr`
	)

◆ createLink()

Link * Body::createLink ( const Link * org = nullptr ) const

virtual

Reimplemented in cnoid::DyBody.

◆ currentTime()

double cnoid::Body::currentTime ( ) const

inline

◆ customizerHandle()

BodyCustomizerHandle Body::customizerHandle ( ) const

◆ customizerInterface()

BodyCustomizerInterface * Body::customizerInterface ( ) const

◆ defaultPosition()

const Isometry3& cnoid::Body::defaultPosition ( ) const

inline

◆ device()

Device* cnoid::Body::device ( int index ) const

inline

◆ devices() [1/2]

const DeviceList& cnoid::Body::devices ( ) const

inline

Example: DeviceList<ForceSensor> forceSensors(body->devices()); or forceSensors << body->devices();

◆ devices() [2/2]

template<class DeviceType >

DeviceList<DeviceType> cnoid::Body::devices ( ) const

inline

◆ doClone()

Referenced * Body::doClone ( CloneMap * cloneMap ) const

overrideprotectedvirtual

Implements cnoid::ClonableReferenced.

Reimplemented in cnoid::DyBody.

◆ expandLinkOffsetRotations()

void cnoid::Body::expandLinkOffsetRotations ( )

inline

◆ extraJoint() [1/2]

ExtraJoint& cnoid::Body::extraJoint ( int index )

inline

◆ extraJoint() [2/2]

const ExtraJoint& cnoid::Body::extraJoint ( int index ) const

inline

◆ findCache() [1/2]

template<class T >

T* cnoid::Body::findCache ( const std::string & name )

inline

◆ findCache() [2/2]

template<class T >

const T* cnoid::Body::findCache ( const std::string & name ) const

inline

◆ findDevice() [1/3]

template<class DeviceType >

DeviceType* cnoid::Body::findDevice ( ) const

inline

◆ findDevice() [2/3]

template<class DeviceType >

DeviceType* cnoid::Body::findDevice ( const std::string & name ) const

inline

◆ findDevice() [3/3]

Device* cnoid::Body::findDevice ( const std::string & name ) const

inline

◆ findHandler()

template<class BodyHandlerType >

BodyHandlerType* cnoid::Body::findHandler ( )

inline

◆ findUniqueEndLink()

Link * Body::findUniqueEndLink ( ) const

◆ getCaches()

bool Body::getCaches	(	PolymorphicReferencedArrayBase<> &	out_caches,
		std::vector< std::string > &	out_names
	)		const

◆ getOrCreateCache()

template<class T >

T* cnoid::Body::getOrCreateCache ( const std::string & name )

inline

◆ handler()

BodyHandler * Body::handler ( int index )

◆ hasVirtualJointForces()

bool Body::hasVirtualJointForces ( ) const

◆ info() [1/7]

Mapping* cnoid::Body::info ( )

◆ info() [2/7]

Mapping * Body::info ( ) const

◆ info() [3/7]

template<typename T >

T cnoid::Body::info ( const std::string & key ) const

◆ info() [4/7]

template<>

CNOID_EXPORT double cnoid::Body::info ( const std::string & key ) const

◆ info() [5/7]

template<>

CNOID_EXPORT bool cnoid::Body::info	(	const std::string &	key,
		const bool &	defaultValue
	)		const

◆ info() [6/7]

template<>

CNOID_EXPORT double cnoid::Body::info	(	const std::string &	key,
		const double &	defaultValue
	)		const

◆ info() [7/7]

template<typename T >

T cnoid::Body::info	(	const std::string &	key,
		const T &	defaultValue
	)		const

◆ initializeDeviceStates()

void Body::initializeDeviceStates ( )

◆ initializePosition()

void Body::initializePosition ( )

◆ initializeState()

void Body::initializeState ( )

virtual

◆ installCustomizer() [1/2]

bool Body::installCustomizer ( )

The function installs the pre-loaded customizer corresponding to the model name.

◆ installCustomizer() [2/2]

bool Body::installCustomizer ( BodyCustomizerInterface * customizerInterface )

◆ isFixedRootModel()

bool cnoid::Body::isFixedRootModel ( ) const

inline

◆ isStaticModel()

bool cnoid::Body::isStaticModel ( ) const

inline

This function returns true when the whole body is a static, fixed object like a floor.

◆ joint() [1/2]

Link * Body::joint ( const std::string & name ) const

This function returns a link object whose joint name matches a given name. A nullptr is returned when the corresponding link is not found.

◆ joint() [2/2]

Link* cnoid::Body::joint ( int id ) const

inline

This function returns the link object that has a given joint ID. If there is no corresponding link, the function returns a dummy link object whose ID is minus one. If the body has virtual joints, this function returns them by giving the ids over the last one.

◆ joints()

ContainerWrapper<std::vector<LinkPtr> > cnoid::Body::joints ( )

inline

◆ lastSerialLink()

Link * Body::lastSerialLink ( ) const

◆ link() [1/2]

Link * Body::link ( const std::string & name ) const

This function returns the link object whose name matches a given name. A nullptr is returned when the corresponding link is not found.

◆ link() [2/2]

Link* cnoid::Body::link ( int index ) const

inline

This function returns the link object of a given index in the whole link sequence. The order of the sequence corresponds to a link-tree traverse from the root link. The size of the sequence can be obtained by numLinks().

◆ links()

const std::vector<Link*>& cnoid::Body::links ( ) const

inline

◆ linkTraverse()

const LinkTraverse& cnoid::Body::linkTraverse ( ) const

inline

LinkTraverse object that traverses all the links from the root link

◆ mass()

double Body::mass ( ) const

◆ modelName()

const std::string & Body::modelName ( ) const

◆ name()

const std::string & Body::name ( ) const

◆ numAllJoints()

int cnoid::Body::numAllJoints ( ) const

inline

The number of all the joints including both the actual and virtual joints.

◆ numDevices()

int cnoid::Body::numDevices ( ) const

inline

◆ numExtraJoints()

int cnoid::Body::numExtraJoints ( ) const

inline

◆ numHandlers()

int Body::numHandlers ( ) const

◆ numJoints()

int cnoid::Body::numJoints ( ) const

inline

The number of the links that are actual joints. The joints given joint ids are recognized as such joints. Note that the acutal value is the maximum joint ID plus one. Thus there may be a case where the value does not correspond to the actual number of the joints with ids. In other words, the value represents the size of the link sequence obtained by joint() function.

◆ numLinks()

int cnoid::Body::numLinks ( ) const

inline

The number of all the links the body has. The value corresponds to the size of the sequence obtained by link() function.

◆ numVirtualJoints()

int cnoid::Body::numVirtualJoints ( ) const

inline

The number of the joints without joint ids. For example, a joint for simulating a spring is usually handled as such a joint. You can get the joints by giving the index after the last joint id to the joint() function.

◆ parentBody()

Body* cnoid::Body::parentBody ( ) const

inline

◆ parentBodyLink()

Link* cnoid::Body::parentBodyLink ( ) const

inline

◆ removeCache()

void Body::removeCache ( const std::string & name )

◆ removeDevice()

void Body::removeDevice ( Device * device )

◆ resetDefaultPosition()

void Body::resetDefaultPosition ( const Isometry3 & T )

◆ resetInfo()

void Body::resetInfo ( Mapping * info )

◆ resetJointSpecificName() [1/2]

void Body::resetJointSpecificName ( Link * link )

◆ resetJointSpecificName() [2/2]

void Body::resetJointSpecificName	(	Link *	link,
		const std::string &	name
	)

◆ resetLinkName()

void Body::resetLinkName	(	Link *	link,
		const std::string &	name
	)

◆ resetParent()

void Body::resetParent ( )

◆ rootLink()

Link* cnoid::Body::rootLink ( ) const

inline

The root link of the body

◆ setCache()

void cnoid::Body::setCache	(	const std::string &	name,
		Referenced *	cache
	)

inline

◆ setCurrentTimeFunction()

void Body::setCurrentTimeFunction ( std::function< double()> func )

◆ setInfo() [1/3]

template<>

CNOID_EXPORT void cnoid::Body::setInfo	(	const std::string &	key,
		const bool &	value
	)

◆ setInfo() [2/3]

template<>

CNOID_EXPORT void cnoid::Body::setInfo	(	const std::string &	key,
		const double &	value
	)

◆ setInfo() [3/3]

template<typename T >

void cnoid::Body::setInfo	(	const std::string &	key,
		const T &	value
	)

◆ setModelName()

void Body::setModelName ( const std::string & name )

◆ setName()

void Body::setName ( const std::string & name )

◆ setParent()

void Body::setParent ( Link * parentBodyLink )

◆ setRootLink()

void Body::setRootLink ( Link * link )

◆ setVirtualJointForces()

void Body::setVirtualJointForces ( double timeStep = 0.0 )

◆ sortDevicesByLinkOrder()

void Body::sortDevicesByLinkOrder ( )

◆ syncPositionWithParentBody()

void Body::syncPositionWithParentBody ( bool doForwardKinematics = true )

◆ updateLinkTree()

void Body::updateLinkTree ( )

This function must be called when the structure of the link tree is changed.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ Body() [1/4]

◆ Body() [2/4]

◆ Body() [3/4]

◆ ~Body()

◆ Body() [4/4]

Member Function Documentation

◆ addCustomizerDirectory()

◆ addDevice() [1/2]

◆ addDevice() [2/2]

◆ addExtraJoint()

◆ addHandler()

◆ allJoints()

◆ bodyInterface()

◆ calcCenterOfMass()

◆ calcForwardKinematics()

◆ calcTotalMomentum()

◆ centerOfMass()

◆ clearDevices()

◆ clearExternalForces()

◆ clearExtraJoints()

◆ clone() [1/2]

◆ clone() [2/2]

◆ cloneShapes()

◆ copyFrom()

◆ createLink()

◆ currentTime()

◆ customizerHandle()

◆ customizerInterface()

◆ defaultPosition()

◆ device()

◆ devices() [1/2]

◆ devices() [2/2]

◆ doClone()

◆ expandLinkOffsetRotations()

◆ extraJoint() [1/2]

◆ extraJoint() [2/2]

◆ findCache() [1/2]

◆ findCache() [2/2]

◆ findDevice() [1/3]

◆ findDevice() [2/3]

◆ findDevice() [3/3]

◆ findHandler()

◆ findUniqueEndLink()

◆ getCaches()

◆ getOrCreateCache()

◆ handler()

◆ hasVirtualJointForces()

◆ info() [1/7]

◆ info() [2/7]

◆ info() [3/7]

◆ info() [4/7]

◆ info() [5/7]

◆ info() [6/7]

◆ info() [7/7]

◆ initializeDeviceStates()

◆ initializePosition()

◆ initializeState()

◆ installCustomizer() [1/2]

◆ installCustomizer() [2/2]

◆ isFixedRootModel()

◆ isStaticModel()

◆ joint() [1/2]

◆ joint() [2/2]

◆ joints()

◆ lastSerialLink()

◆ link() [1/2]

◆ link() [2/2]

◆ links()

◆ linkTraverse()

◆ mass()

◆ modelName()

◆ name()

◆ numAllJoints()

◆ numDevices()

◆ numExtraJoints()