#include <DyBody.h>

Inheritance diagram for cnoid::DyBody:

Public Member Functions
	DyBody ()

	DyBody (const Body &org)=delete

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

DyLink *	joint (int id) const

DyLink *	link (int index) const

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

DyLink *	rootLink () const

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

void	initializeSubBodies ()

std::vector< DySubBodyPtr > &	subBodies ()

void	calcSpatialForwardKinematics ()

Public Member Functions inherited from cnoid::Body
	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

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 ()

Protected Member Functions
virtual Referenced *	doClone (CloneMap *cloneMap) const override

Protected Member Functions inherited from cnoid::Body
	Body (Link *rootLink)

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

	Referenced (const Referenced &)

int	refCount () const

Additional Inherited Members
Static Public Member Functions inherited from cnoid::Body
static void	addCustomizerDirectory (const std::string &path)

static BodyInterface *	bodyInterface ()

Detailed Description

A Body class used for forward dynamics based on the articulated body method (ABM)

Constructor & Destructor Documentation

◆ DyBody() [1/2]

DyBody::DyBody ( )

◆ DyBody() [2/2]

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

delete

The copy constructor is disabled becasue a virtual function is neccessary to create the instance but it cannot be called from the contructor. Use the copyFrom function after the empty instance is created to create the copied instance.

Member Function Documentation

◆ calcSpatialForwardKinematics()

void DyBody::calcSpatialForwardKinematics ( )

◆ createLink()

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

overridevirtual

Reimplemented from cnoid::Body.

◆ doClone()

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

overrideprotectedvirtual

Reimplemented from cnoid::Body.

◆ initializeSubBodies()

void DyBody::initializeSubBodies ( )

◆ joint()

DyLink* cnoid::DyBody::joint ( int id ) const

inline

◆ link() [1/2]

DyLink* cnoid::DyBody::link ( const std::string & name ) const

inline

◆ link() [2/2]

DyLink* cnoid::DyBody::link ( int index ) const

inline

◆ links()

const std::vector<DyLink*>& cnoid::DyBody::links ( ) const

inline

◆ rootLink()

DyLink* cnoid::DyBody::rootLink ( ) const

inline

◆ subBodies()

std::vector<DySubBodyPtr>& cnoid::DyBody::subBodies ( )

inline

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DyBody() [1/2]

◆ DyBody() [2/2]

Member Function Documentation

◆ calcSpatialForwardKinematics()

◆ createLink()

◆ doClone()

◆ initializeSubBodies()

◆ joint()

◆ link() [1/2]

◆ link() [2/2]

◆ links()

◆ rootLink()

◆ subBodies()