cnoid::BodyItem Class Reference

#include <BodyItem.h>

Inheritance diagram for cnoid::BodyItem:

Public Types
enum	PresetPoseID { INITIAL_POSE, STANDARD_POSE }
enum	PositionType {   CM_PROJECTION, HOME_COP, RIGHT_HOME_COP, LEFT_HOME_COP,   ZERO_MOMENT_POINT }
Public Types inherited from cnoid::Item
enum	Attribute {   SubItem, Attached, Temporal, LoadOnly,   NumAttributes, SUB_ITEM = SubItem, TEMPORAL = Temporal, LOAD_ONLY = LoadOnly }
enum	CheckId { LogicalSumOfAllChecks = -1, PrimaryCheck = 0 }
typedef std::function< bool(Item *item)>	ItemPredicate

Public Member Functions
	BodyItem ()
	BodyItem (const std::string &name)
	BodyItem (const BodyItem &org)
virtual	~BodyItem ()
virtual bool	setName (const std::string &name) override
Body *	body () const
void	setBody (Body *body)
bool	isSharingShapes () const
void	cloneShapes (CloneMap &cloneMap)
bool	makeBodyStatic ()
bool	makeBodyDynamic ()
BodyItem *	parentBodyItem ()
bool	isAttachedToParentBody () const
void	setAttachmentEnabled (bool on, bool doNotifyUpdate=true)
bool	isAttachmentEnabled () const
bool	attachToParentBody (bool doNotifyUpdate=true)
void	moveToOrigin ()
void	setPresetPose (PresetPoseID id)
Link *	currentBaseLink () const
void	setCurrentBaseLink (Link *link)
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void	copyKinematicState ()
void	pasteKinematicState ()
void	storeKinematicState (BodyState &state)
bool	restoreKinematicState (const BodyState &state)
void	storeInitialState ()
void	restoreInitialState (bool doNotify=true)
void	getInitialState (BodyState &out_state)
void	setInitialState (const BodyState &in_state)
void	beginKinematicStateEdit ()
void	cancelKinematicStateEdit ()
void	acceptKinematicStateEdit ()
LinkKinematicsKit *	findPresetLinkKinematicsKit (Link *targetLink=nullptr)
std::shared_ptr< InverseKinematics >	findPresetIK (Link *targetLink)
LinkKinematicsKit *	getCurrentLinkKinematicsKit (Link *targetLink)
std::shared_ptr< InverseKinematics >	getCurrentIK (Link *targetLink)
std::shared_ptr< PinDragIK >	getOrCreatePinDragIK ()
std::shared_ptr< PinDragIK >	checkPinDragIK ()
std::shared_ptr< PenetrationBlocker >	createPenetrationBlocker (Link *link, bool excludeSelfCollisions=false)
SignalProxy< void()>	sigModelUpdated ()
void	notifyModelUpdate ()
SignalProxy< void()>	sigKinematicStateChanged ()
void	notifyKinematicStateChange (bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
void	notifyKinematicStateChange (Connection &connectionToBlock, bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
void	notifyKinematicStateChangeLater (bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
void	notifyKinematicStateChangeLater (Connection &connectionToBlock, bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
SignalProxy< void()>	sigKinematicStateUpdated ()
void	notifyKinematicStateUpdate (bool doNotifyStateChange=true)
bool	isCollisionDetectionEnabled () const
void	setCollisionDetectionEnabled (bool on)
void	enableCollisionDetection (bool on)
bool	isSelfCollisionDetectionEnabled () const
void	setSelfCollisionDetectionEnabled (bool on)
void	enableSelfCollisionDetection (bool on)
void	clearCollisions ()
std::vector< CollisionLinkPairPtr > &	collisions ()
const std::vector< CollisionLinkPairPtr > &	collisions () const
std::vector< bool > &	collisionLinkBitSet ()
const std::vector< bool > &	collisionLinkBitSet () const
std::vector< CollisionLinkPairPtr > &	collisionsOfLink (int linkIndex)
const std::vector< CollisionLinkPairPtr > &	collisionsOfLink (int linkIndex) const
SignalProxy< void()>	sigCollisionsUpdated ()
void	notifyCollisionUpdate ()
const Vector3 &	centerOfMass ()
bool	isLeggedBody () const
bool	doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
const Vector3 &	zmp () const
void	setZmp (const Vector3 &zmp)
void	editZmp (const Vector3 &zmp)
stdx::optional< Vector3 >	getParticularPosition (PositionType posType)
bool	setStance (double width)
virtual LocationProxyPtr	getLocationProxy () override
bool	isLocationEditable () const
void	setLocationEditable (bool on)
LocationProxyPtr	createLinkLocationProxy (Link *link)
virtual SgNode *	getScene () override
EditableSceneBody *	sceneBody ()
EditableSceneBody *	existingSceneBody ()
float	transparency () const
void	setTransparency (float t)
Public Member Functions inherited from cnoid::Item
virtual	~Item ()
Item &	operator= (const Item &rhs)=delete
int	classId () const
Item *	createNewInstance () const
void	assign (Item *srcItem)
	Copy item properties as much as possible like the assignment operator. More...
Item *	duplicate (Item *duplicatedParentItem=nullptr) const
Item *	duplicateSubTree () const
	This function creates a copy of the item including its descendant items. More...
Item *	duplicateAll () const
const std::string &	name () const
virtual std::string	displayName () const
void	setDisplayNameModifier (std::function< std::string(const Item *item)> modifier)
SignalProxy< void(const std::string &oldName)>	sigNameChanged ()
void	notifyNameChange ()
	This function notifies the system of a displayName change. More...
void	setAttribute (Attribute attribute)
void	unsetAttribute (Attribute attribute)
bool	hasAttribute (Attribute attribute) const
bool	isSubItem () const
void	setSubItemAttributes ()
bool	isTemporal () const
void	setTemporal (bool on=true)
bool	isSelected () const
void	setSelected (bool on, bool isCurrent=false)
void	setSubTreeItemsSelected (bool on)
bool	isChecked (int checkId=PrimaryCheck) const
void	setChecked (bool on)
void	setChecked (int checkId, bool on)
int	numCheckStates () const
int	numChildren () const
int	countDescendantItems () const
Item *	childItem () const
Item *	prevItem () const
Item *	nextItem () const
Item *	lastChildItem () const
Item *	parentItem () const
Item *	headItem () const
RootItem *	findRootItem () const
bool	isConnectedToRoot () const
Item *	localRootItem () const
bool	addChildItem (Item *item, bool isManualOperation=false)
bool	insertChildItem (Item *item, Item *nextItem, bool isManualOperation=false)
bool	insertChild (Item *position, Item *item, bool isManualOperation=false)
bool	addSubItem (Item *item)
bool	insertSubItem (Item *item, Item *nextItem)
void	removeFromParentItem ()
void	detachFromParentItem ()
void	clearChildren ()
template<class ItemType >
ItemType *	find (const std::string &path="")
Item *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	findItem (std::function< bool(ItemType *item)> pred=nullptr) const
Item *	findChildItem (const std::string &path, std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemType *	findChildItem (const std::string &path, std::function< bool(ItemType *item)> pred=nullptr) const
template<class ItemType >
ItemType *	findChildItem (std::function< bool(ItemType *item)> pred=nullptr) const
Item *	findSubItem (const std::string &path) const
template<class ItemType >
ItemType *	findSubItem (const std::string &path="") const
template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false) const
bool	isOwnedBy (Item *item) const
ItemList	childItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	childItems (std::function< bool(ItemType *item)> pred=nullptr) const
ItemList	descendantItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	descendantItems (std::function< bool(ItemType *item)> pred=nullptr) const
ItemList	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const
bool	traverse (std::function< bool(Item *)> pred)
template<class ItemType >
bool	traverse (std::function< bool(ItemType *item)> pred=nullptr)
SignalProxy< void()>	sigTreePathChanged ()
SignalProxy< void()>	sigTreePositionChanged ()
SignalProxy< void(Item *topItem, Item *prevTopParentItem)>	sigTreePositionChanged2 ()
SignalProxy< void()>	sigPositionChanged ()
SignalProxy< void()>	sigSubTreeChanged ()
SignalProxy< void()>	sigDisconnectedFromRoot ()
SignalProxy< void()>	sigDetachedFromRoot ()
SignalProxy< void(bool on)>	sigSelectionChanged ()
SignalProxy< void(int checkId, bool on)>	sigAnyCheckToggled ()
SignalProxy< void(bool on)>	sigCheckToggled (int checkId=PrimaryCheck)
virtual void	notifyUpdate ()
SignalProxy< void()>	sigUpdated ()
bool	setAddon (ItemAddon *addon)
void	removeAddon (ItemAddon *addon)
template<class AddonType >
AddonType *	findAddon ()
template<class AddonType >
AddonType *	getAddon ()
std::vector< ItemAddon * >	addons ()
bool	load (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	load (const std::string &filename, Item *parent, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	save (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())
const std::string &	filePath () const
	Full path file name. More...
std::string	fileName () const
	File name without the directory. More...
const std::string &	fileFormat () const
const Mapping *	fileOptions () const
std::time_t	fileModificationTime () const
bool	isConsistentWithFile () const
void	updateFileInformation (const std::string &filename, const std::string &format, Mapping *options=nullptr)
void	setConsistentWithFile (bool isConsistent)
void	suggestFileUpdate ()
void	clearFileInformation ()
	Use this function to disable the implicit overwrite next time. More...
bool	reload ()
bool	replace (Item *originalItem)
Item *	findOriginalItem () const
Item *	findReplacementItem () const
void	putProperties (PutPropertyFunction &putProperty)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()
Public Member Functions inherited from cnoid::RenderableItem
	RenderableItem ()
virtual	~RenderableItem ()
virtual bool	isSceneSensitive ()
virtual void	setSceneSensitive (bool on)
virtual SignalProxy< void(bool on)>	sigSceneSensitiveChanged ()

Static Public Member Functions
static void	initializeClass (ExtensionManager *ext)
static void	registerBodyItemFileIoSet (ItemManager *im)
static ItemFileIO *	bodyFileIO ()
	The actual type of the IO object returned by this function is BodyItemBodyFileIO. More...
static ItemFileIO *	meshFileIO ()
Static Public Member Functions inherited from cnoid::Item
template<class ItemType >
static ItemPredicate	getItemPredicate ()
template<class ItemType >
static ItemPredicate	getItemPredicate (std::function< bool(ItemType *item)> pred)
static Item *	find (const std::string &path)

Protected Member Functions
virtual Item *	doDuplicate () const override
	Override this function to allow duplication of an instance. More...
virtual void	doAssign (Item *item) override
	Implement the code to copy properties like the assingment operator. More...
virtual void	onTreePathChanged () override
virtual void	onConnectedToRoot () override
virtual void	doPutProperties (PutPropertyFunction &putProperty) override
virtual bool	store (Archive &archive) override
virtual bool	restore (const Archive &archive) override
Protected Member Functions inherited from cnoid::Item
	Item ()
	Item (const std::string &name)
	Item (const Item &item)
virtual Item *	doDuplicate (Item *duplicatedParentItem) const
virtual bool	onNewTreePositionCheck (bool isManualOperation, std::function< void()> &out_callbackWhenAdded)
virtual void	onAddedToParent ()
virtual void	onTreePositionChanged ()
virtual void	onPositionChanged ()
virtual void	onRemovedFromParent (Item *parentItem, bool isParentBeingDeleted)
virtual void	onDisconnectedFromRoot ()
virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Friends
class	PyBodyPlugin

Member Enumeration Documentation

PositionType

enum cnoid::BodyItem::PositionType

Enumerator
CM_PROJECTION
HOME_COP
RIGHT_HOME_COP
LEFT_HOME_COP
ZERO_MOMENT_POINT

PresetPoseID

enum cnoid::BodyItem::PresetPoseID

Enumerator
INITIAL_POSE
STANDARD_POSE

Constructor & Destructor Documentation

BodyItem() [1/3]

BodyItem::BodyItem

(

)

BodyItem() [2/3]

BodyItem::BodyItem

(

const std::string &

name

)

BodyItem() [3/3]

BodyItem::BodyItem

(

const BodyItem &

org

)

~BodyItem()

BodyItem::~BodyItem ( )

virtual

Member Function Documentation

acceptKinematicStateEdit()

void BodyItem::acceptKinematicStateEdit

(

)

attachToParentBody()

bool BodyItem::attachToParentBody

(

bool

doNotifyUpdate = true

)

beginKinematicStateEdit()

void BodyItem::beginKinematicStateEdit

(

)

body()

Body * BodyItem::body

(

)

const

bodyFileIO()

ItemFileIO * BodyItem::bodyFileIO ( )

static

The actual type of the IO object returned by this function is BodyItemBodyFileIO.

calcForwardKinematics()

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

Forward kinematics from the current base link is done.

cancelKinematicStateEdit()

void BodyItem::cancelKinematicStateEdit

(

)

centerOfMass()

const Vector3 & BodyItem::centerOfMass

(

)

checkPinDragIK()

std::shared_ptr< PinDragIK > BodyItem::checkPinDragIK

(

)

clearCollisions()

void BodyItem::clearCollisions

(

)

cloneShapes()

void BodyItem::cloneShapes

(

CloneMap &

cloneMap

)

collisionLinkBitSet() [1/2]

std::vector<bool>& cnoid::BodyItem::collisionLinkBitSet ( )

inline

collisionLinkBitSet() [2/2]

const std::vector<bool>& cnoid::BodyItem::collisionLinkBitSet ( ) const

inline

collisions() [1/2]

std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisions ( )

inline

collisions() [2/2]

const std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisions ( ) const

inline

collisionsOfLink() [1/2]

std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisionsOfLink ( int  linkIndex )

inline

collisionsOfLink() [2/2]

const std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisionsOfLink ( int  linkIndex ) const

inline

copyKinematicState()

void BodyItem::copyKinematicState

(

)

createLinkLocationProxy()

LocationProxyPtr BodyItem::createLinkLocationProxy

(

Link *

link

)

createPenetrationBlocker()

std::shared_ptr< PenetrationBlocker > BodyItem::createPenetrationBlocker	(	Link *	link,
		bool	excludeSelfCollisions = false
	)

currentBaseLink()

Link * BodyItem::currentBaseLink

(

)

const

doAssign()

void BodyItem::doAssign ( Item *  srcItem )

overrideprotectedvirtual

Implement the code to copy properties like the assingment operator.

Reimplemented from cnoid::Item.

doDuplicate()

Item * BodyItem::doDuplicate ( ) const

overrideprotectedvirtual

Override this function to allow duplication of an instance.

Reimplemented from cnoid::Item.

doLegIkToMoveCm()

bool BodyItem::doLegIkToMoveCm	(	const Vector3 &	c,
		bool	onlyProjectionToFloor = false
	)

doPutProperties()

void BodyItem::doPutProperties ( PutPropertyFunction &  putProperty )

overrideprotectedvirtual

This function is used to put a standard properties of the item. You can implement the standard properties by overriding this function.

Note

The overridden function should call the same function of the parent class.

Reimplemented from cnoid::Item.

editZmp()

void BodyItem::editZmp

(

const Vector3 &

zmp

)

enableCollisionDetection()

void cnoid::BodyItem::enableCollisionDetection ( bool  on )

inline

enableSelfCollisionDetection()

void cnoid::BodyItem::enableSelfCollisionDetection ( bool  on )

inline

existingSceneBody()

EditableSceneBody * BodyItem::existingSceneBody

(

)

findPresetIK()

std::shared_ptr< InverseKinematics > BodyItem::findPresetIK

(

Link *

targetLink

)

findPresetLinkKinematicsKit()

LinkKinematicsKit * BodyItem::findPresetLinkKinematicsKit

(

Link *

targetLink = nullptr

)

getCurrentIK()

std::shared_ptr< InverseKinematics > BodyItem::getCurrentIK

(

Link *

targetLink

)

getCurrentLinkKinematicsKit()

LinkKinematicsKit * BodyItem::getCurrentLinkKinematicsKit

(

Link *

targetLink

)

getInitialState()

void BodyItem::getInitialState

(

BodyState &

out_state

)

getLocationProxy()

LocationProxyPtr BodyItem::getLocationProxy ( )

overridevirtual

Implements cnoid::LocatableItem.

getOrCreatePinDragIK()

std::shared_ptr< PinDragIK > BodyItem::getOrCreatePinDragIK

(

)

getParticularPosition()

stdx::optional< Vector3 > BodyItem::getParticularPosition

(

PositionType

posType

)

getScene()

SgNode * BodyItem::getScene ( )

overridevirtual

Implements cnoid::RenderableItem.

initializeClass()

void BodyItem::initializeClass ( ExtensionManager *  ext )

static

isAttachedToParentBody()

bool cnoid::BodyItem::isAttachedToParentBody ( ) const

inline

isAttachmentEnabled()

bool BodyItem::isAttachmentEnabled

(

)

const

isCollisionDetectionEnabled()

bool BodyItem::isCollisionDetectionEnabled

(

)

const

isLeggedBody()

bool BodyItem::isLeggedBody

(

)

const

isLocationEditable()

bool BodyItem::isLocationEditable

(

)

const

isSelfCollisionDetectionEnabled()

bool BodyItem::isSelfCollisionDetectionEnabled

(

)

const

isSharingShapes()

bool BodyItem::isSharingShapes

(

)

const

makeBodyDynamic()

bool BodyItem::makeBodyDynamic

(

)

makeBodyStatic()

bool BodyItem::makeBodyStatic

(

)

meshFileIO()

ItemFileIO * BodyItem::meshFileIO ( )

static

moveToOrigin()

void BodyItem::moveToOrigin

(

)

notifyCollisionUpdate()

void cnoid::BodyItem::notifyCollisionUpdate ( )

inline

notifyKinematicStateChange() [1/2]

void BodyItem::notifyKinematicStateChange	(	bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyKinematicStateChange() [2/2]

void BodyItem::notifyKinematicStateChange	(	Connection &	connectionToBlock,
		bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyKinematicStateChangeLater() [1/2]

void BodyItem::notifyKinematicStateChangeLater	(	bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyKinematicStateChangeLater() [2/2]

void BodyItem::notifyKinematicStateChangeLater	(	Connection &	connectionToBlock,
		bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyKinematicStateUpdate()

void BodyItem::notifyKinematicStateUpdate

(

bool

doNotifyStateChange = true

)

notifyModelUpdate()

void BodyItem::notifyModelUpdate

(

)

onConnectedToRoot()

void BodyItem::onConnectedToRoot ( )

overrideprotectedvirtual

This function is called when the item has been connected to the item tree with RootItem as the root. Note that this function is called before onTreePathChanged and onTreePositionChanged are called.

Reimplemented from cnoid::Item.

onTreePathChanged()

void BodyItem::onTreePathChanged ( )

overrideprotectedvirtual

This function is called at the same time as sigTreePathChanged. The order in which it is called precedes the signal. By overriding this function in a derived item class, you can implement the necessary processing when the path in the item tree is changed.

Reimplemented from cnoid::Item.

parentBodyItem()

BodyItem * BodyItem::parentBodyItem

(

)

pasteKinematicState()

void BodyItem::pasteKinematicState

(

)

registerBodyItemFileIoSet()

void BodyItem::registerBodyItemFileIoSet ( ItemManager *  im )

static

restore()

bool BodyItem::restore ( const Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

restoreInitialState()

void BodyItem::restoreInitialState

(

bool

doNotify = true

)

restoreKinematicState()

bool BodyItem::restoreKinematicState

(

const BodyState &

state

)

Returns

false if the restored state is same as the current state

sceneBody()

EditableSceneBody * BodyItem::sceneBody

(

)

setAttachmentEnabled()

void BodyItem::setAttachmentEnabled	(	bool	on,
		bool	doNotifyUpdate = true
	)

setBody()

void BodyItem::setBody

(

Body *

body

)

setCollisionDetectionEnabled()

void BodyItem::setCollisionDetectionEnabled

(

bool

on

)

setCurrentBaseLink()

void BodyItem::setCurrentBaseLink

(

Link *

link

)

setInitialState()

void cnoid::BodyItem::setInitialState

(

const BodyState &

in_state

)

setLocationEditable()

void BodyItem::setLocationEditable

(

bool

on

)

setName()

bool BodyItem::setName ( const std::string &  name )

overridevirtual

Returns

true if the name is successfully updated or the item originally has the same name

Reimplemented from cnoid::Item.

setPresetPose()

void BodyItem::setPresetPose

(

PresetPoseID

id

)

setSelfCollisionDetectionEnabled()

void BodyItem::setSelfCollisionDetectionEnabled

(

bool

on

)

setStance()

bool BodyItem::setStance

(

double

width

)

setTransparency()

void BodyItem::setTransparency

(

float

t

)

setZmp()

void BodyItem::setZmp

(

const Vector3 &

zmp

)

sigCollisionsUpdated()

SignalProxy<void()> cnoid::BodyItem::sigCollisionsUpdated ( )

inline

sigKinematicStateChanged()

SignalProxy< void()> BodyItem::sigKinematicStateChanged

(

)

This signal is emitted when there is a change in "kinematic" state such as joint angle of robot, joint angular velocity, root position / posture. Item :: sigUpdated () is assumed to be a case where the model itself is changed, and you have to distinguish them.

sigKinematicStateUpdated()

SignalProxy< void()> BodyItem::sigKinematicStateUpdated

(

)

This signal is emitted when a kinematic state has been updated. In constrast to sigKinematicStateChange, this signal is emitted when a series of changes are finalized.

sigModelUpdated()

SignalProxy< void()> BodyItem::sigModelUpdated

(

)

store()

bool BodyItem::store ( Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

storeInitialState()

void BodyItem::storeInitialState

(

)

storeKinematicState()

void BodyItem::storeKinematicState

(

BodyState &

state

)

transparency()

float BodyItem::transparency

(

)

const

zmp()

const Vector3 & BodyItem::zmp

(

)

const

Friends And Related Function Documentation

PyBodyPlugin

friend class PyBodyPlugin

friend

---

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

• BodyItem.h
• BodyItem.cpp
• BodyItemFileIO.cpp