Inheritance diagram for VirtualRobot::SceneObject:

Data Structures
struct	Physics

Public Types
enum	VisualizationType { Full, Collision, CollisionData }

Public Member Functions
	SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

virtual	~SceneObject ()

std::string	getName () const

void	setName (const std::string &name)

virtual Eigen::Matrix4f	getGlobalPose () const

virtual Eigen::Vector3f	getGlobalPosition () const

virtual Eigen::Matrix3f	getGlobalOrientation () const

virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const

virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const

virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const

virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) const

virtual void	setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)

virtual void	setGlobalPose (const Eigen::Matrix4f &pose)

virtual CollisionModelPtr	getCollisionModel ()

virtual CollisionCheckerPtr	getCollisionChecker ()

void	setVisualization (VisualizationNodePtr visualization)

void	setCollisionModel (CollisionModelPtr colModel)

virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

virtual bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >())

virtual void	setUpdateVisualization (bool enable)

bool	getUpdateVisualizationStatus ()

virtual void	setUpdateCollisionModel (bool enable)

bool	getUpdateCollisionModelStatus ()

virtual void	setupVisualization (bool showVisualization, bool showAttachedVisualizations)

virtual void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")

virtual void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())

virtual bool	showCoordinateSystemState ()

virtual void	showBoundingBox (bool enable, bool wireframe=false)

virtual bool	ensureVisualization (const std::string &visualizationType="")

Eigen::Matrix4f	toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const

Eigen::Vector3f	toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const

Eigen::Matrix4f	toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const

Eigen::Vector3f	toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const

Eigen::Matrix4f	getTransformationTo (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)

Eigen::Vector3f	transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)

virtual int	getNumFaces (bool collisionModel=false)

virtual Eigen::Vector3f	getCoMLocal ()

void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...

virtual Eigen::Vector3f	getCoMGlobal ()

float	getMass () const

void	setMass (float m)

Physics::SimulationType	getSimulationType () const

void	setSimulationType (Physics::SimulationType s)

Eigen::Matrix3f	getInertiaMatrix ()

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)

void	setInertiaMatrix (const Eigen::Matrix3f &im)

float	getFriction ()

void	setFriction (float friction)

SceneObject::Physics	getPhysics ()

std::vector< std::string >	getIgnoredCollisionModels ()

virtual void	print (bool printChildren=false, bool printDecoration=true) const

template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

void	highlight (VisualizationPtr visualization, bool enable)

SceneObjectPtr	clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

SceneObjectPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual bool	attachChild (SceneObjectPtr child)

virtual void	detachChild (SceneObjectPtr child)

virtual bool	hasChild (SceneObjectPtr child, bool recursive=false) const

virtual bool	hasChild (const std::string &childName, bool recursive=false) const

virtual bool	hasParent () const

virtual SceneObjectPtr	getParent () const

virtual std::vector< SceneObjectPtr >	getChildren () const

virtual void	updatePose (bool updateChildren=true)
	Compute the global pose of this object. More...

virtual void	copyPoseFrom (const SceneObjectPtr &other)

virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)

void	setScaling (float scaling)

float	getScaling ()

bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)

const std::string &	getVisualizationModelXML () const

Static Public Member Functions
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Protected Member Functions
virtual SceneObject *	_clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual void	detachedFromParent ()
	Parent detached this object. More...

virtual void	attached (SceneObjectPtr parent)
	Parent attached this object. More...

virtual void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true)

std::string	getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")

std::string	getFilenameReplacementColModel (const std::string standardExtension=".wrl")

	SceneObject ()

std::string	getSceneObjectXMLString (const std::string &basePath, int tabs, const std::string &modelPathRelative="")
	basic data, used by Obstacle and ManipulationObject More...

virtual bool	initializePhysics ()

Protected Attributes
std::string	name

bool	initialized

Eigen::Matrix4f	globalPose

std::vector< SceneObjectPtr >	children

SceneObjectWeakPtr	parent

CollisionModelPtr	collisionModel

std::string	collisionModelXML

VisualizationNodePtr	visualizationModel

std::string	visualizationModelXML

std::filesystem::path	basePath

bool	updateVisualization

bool	updateCollisionModel

Physics	physics

CollisionCheckerPtr	collisionChecker

float	scaling = 1.0f

Friends
class	RobotFactory

Member Enumeration Documentation

◆ VisualizationType

enum VirtualRobot::SceneObject::VisualizationType

Enumerator
Full	the full model
Collision	the collision model
CollisionData	a visualization of the collision model data that is internally used (this mode is only for debug purposes, the model is static, i.e. updates/movements/rotations are not visualized!)

Constructor & Destructor Documentation

◆ SceneObject() [1/2]

VirtualRobot::SceneObject::SceneObject	(	const std::string &	name,
		VisualizationNodePtr	visualization = `VisualizationNodePtr()`,
		CollisionModelPtr	collisionModel = `CollisionModelPtr()`,
		const Physics &	p = `Physics()`,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`
	)

◆ ~SceneObject()

VirtualRobot::SceneObject::~SceneObject ( )

virtual

◆ SceneObject() [2/2]

VirtualRobot::SceneObject::SceneObject ( )

inlineprotected

Member Function Documentation

◆ _clone()

SceneObject * VirtualRobot::SceneObject::_clone	(	const std::string &	name,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`
	)		const

protectedvirtual

Reimplemented in VirtualRobot::RobotNode, and VirtualRobot::Sensor.

◆ attachChild()

bool VirtualRobot::SceneObject::attachChild ( SceneObjectPtr child )

virtual

Attach a connected object. The connected object is linked to this SceneObject and moves accordingly. Any call to the child's setGlobalPose is forbidden and will fail.

Parameters

child The child to attach

◆ attached()

void VirtualRobot::SceneObject::attached ( SceneObjectPtr parent )

protectedvirtual

Parent attached this object.

◆ clone() [1/2]

SceneObjectPtr VirtualRobot::SceneObject::clone	(	const std::string &	name,
		CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`
	)		const

Clones this object. If no col checker is given, the one of the original object is used.

◆ clone() [2/2]

SceneObjectPtr VirtualRobot::SceneObject::clone	(	CollisionCheckerPtr	colChecker = `CollisionCheckerPtr()`,
		float	scaling = `1.0f`
	)		const

◆ copyPoseFrom()

void VirtualRobot::SceneObject::copyPoseFrom ( const SceneObjectPtr & other )

virtual

Reimplemented in VirtualRobot::RobotNode.

◆ detachChild()

void VirtualRobot::SceneObject::detachChild ( SceneObjectPtr child )

virtual

Removes the child from children list.

◆ detachedFromParent()

void VirtualRobot::SceneObject::detachedFromParent ( )

protectedvirtual

Parent detached this object.

◆ ensureVisualization()

bool VirtualRobot::SceneObject::ensureVisualization ( const std::string & visualizationType = "" )

virtual

Builds a dummy visualization if necessary.

Parameters

visualizationType If given the visualization is forced to be this type. If not set, the first registered visualization from VisualizationFactory is used.

◆ getChildren()

std::vector< SceneObjectPtr > VirtualRobot::SceneObject::getChildren ( ) const

virtual

◆ getCollisionChecker()

VirtualRobot::CollisionCheckerPtr VirtualRobot::SceneObject::getCollisionChecker ( )

virtual

Reimplemented in VirtualRobot::Robot.

◆ getCollisionModel()

VirtualRobot::CollisionModelPtr VirtualRobot::SceneObject::getCollisionModel ( )

virtual

◆ getCoMGlobal()

Eigen::Vector3f VirtualRobot::SceneObject::getCoMGlobal ( )

virtual

Return Center of Mass in global coordinates. This method does not consider children.

Reimplemented in VirtualRobot::Robot.

◆ getCoMLocal()

Eigen::Vector3f VirtualRobot::SceneObject::getCoMLocal ( )

virtual

Return Center of Mass in local coordinate frame. This method does not consider children.

Reimplemented in VirtualRobot::Robot.

◆ getFilenameReplacementColModel()

std::string VirtualRobot::SceneObject::getFilenameReplacementColModel ( const std::string standardExtension = ".wrl" )

protected

◆ getFilenameReplacementVisuModel()

std::string VirtualRobot::SceneObject::getFilenameReplacementVisuModel ( const std::string standardExtension = ".wrl" )

protected

◆ getFriction()

float VirtualRobot::SceneObject::getFriction ( )

◆ getGlobalDirection()

Eigen::Vector3f VirtualRobot::SceneObject::getGlobalDirection ( const Eigen::Vector3f & localDircetion ) const

virtual

◆ getGlobalOrientation() [1/2]

Eigen::Matrix3f VirtualRobot::SceneObject::getGlobalOrientation ( ) const

virtual

◆ getGlobalOrientation() [2/2]

Eigen::Matrix3f VirtualRobot::SceneObject::getGlobalOrientation ( const Eigen::Matrix3f & localOrientation ) const

virtual

◆ getGlobalPose() [1/2]

Eigen::Matrix4f VirtualRobot::SceneObject::getGlobalPose ( ) const

virtual

The global pose defines the position of the object in the world. For non-joint objects it is identical with the visualization frame.

Reimplemented in VirtualRobot::LocalRobot, and VirtualRobot::RobotNode.

◆ getGlobalPose() [2/2]

Eigen::Matrix4f VirtualRobot::SceneObject::getGlobalPose ( const Eigen::Matrix4f & localPose ) const

virtual

◆ getGlobalPosition() [1/2]

Eigen::Vector3f VirtualRobot::SceneObject::getGlobalPosition ( ) const

virtual

◆ getGlobalPosition() [2/2]

Eigen::Vector3f VirtualRobot::SceneObject::getGlobalPosition ( const Eigen::Vector3f & localPosition ) const

virtual

◆ getIgnoredCollisionModels()

std::vector< std::string > VirtualRobot::SceneObject::getIgnoredCollisionModels ( )

Collisions with these models are ignored by physics engine (only considered within the SimDynamics package!).

◆ getInertiaMatrix() [1/4]

Eigen::Matrix3f VirtualRobot::SceneObject::getInertiaMatrix ( )

◆ getInertiaMatrix() [2/4]

Eigen::Matrix3f VirtualRobot::SceneObject::getInertiaMatrix ( const Eigen::Vector3f & shift )

If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem)

Parameters

shift How the system should be shifted.

Returns: The Inertia Matrix at the shifted system

◆ getInertiaMatrix() [3/4]

Eigen::Matrix3f VirtualRobot::SceneObject::getInertiaMatrix	(	const Eigen::Vector3f &	shift,
		const Eigen::Matrix3f &	rotation
	)

◆ getInertiaMatrix() [4/4]

Eigen::Matrix3f VirtualRobot::SceneObject::getInertiaMatrix ( const Eigen::Matrix4f & transform )

◆ getMass()

float VirtualRobot::SceneObject::getMass ( ) const

Mass in Kg

◆ getName()

std::string VirtualRobot::SceneObject::getName ( ) const

◆ getNumFaces()

int VirtualRobot::SceneObject::getNumFaces ( bool collisionModel = false )

virtual

get number of faces (i.e. triangles) of this object collisionModel Indicates weather the faces of the collision model or the full model should be returned.

Reimplemented in VirtualRobot::Robot.

◆ getParent()

VirtualRobot::SceneObjectPtr VirtualRobot::SceneObject::getParent ( ) const

virtual

Returns: If this object is attached, the parent is returned. Otherwise an empty object is returned.

◆ getPhysics()

SceneObject::Physics VirtualRobot::SceneObject::getPhysics ( )

◆ getScaling()

float VirtualRobot::SceneObject::getScaling ( )

◆ getSceneObjectXMLString()

std::string VirtualRobot::SceneObject::getSceneObjectXMLString	(	const std::string &	basePath,
		int	tabs,
		const std::string &	modelPathRelative = `""`
	)

protected

basic data, used by Obstacle and ManipulationObject

◆ getSimulationType()

SceneObject::Physics::SimulationType VirtualRobot::SceneObject::getSimulationType ( ) const

The simulation type is of interest in SimDynamics.

◆ getTransformationFrom()

Eigen::Matrix4f VirtualRobot::SceneObject::getTransformationFrom ( const SceneObjectPtr otherObject ) const

Returns the transformation matrix from otherObject to this object

◆ getTransformationTo()

Eigen::Matrix4f VirtualRobot::SceneObject::getTransformationTo ( const SceneObjectPtr otherObject ) const

Returns the transformation matrix from this object to otherObject

◆ getUpdateCollisionModelStatus()

bool VirtualRobot::SceneObject::getUpdateCollisionModelStatus ( )

◆ getUpdateVisualizationStatus()

bool VirtualRobot::SceneObject::getUpdateVisualizationStatus ( )

◆ getVisualization() [1/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::SceneObject::getVisualization ( SceneObject::VisualizationType visuType = SceneObject::Full )

virtual

Return visualization object.

Parameters

visuType Set the type of visualization.

◆ getVisualization() [2/2]

template<typename T >

std::shared_ptr< T > VirtualRobot::SceneObject::getVisualization ( SceneObject::VisualizationType visuType = SceneObject::Full )

Retrieve a visualization in the given format. Example usage: std::shared_ptr<VirtualRobot::CoinVisualization> visualization = robot->getVisualization<CoinVisualization>(); SoNode* visualisationNode = NULL; if (visualization) visualisationNode = visualization->getCoinVisualization();

See also: CoinVisualizationFactory::getCoinVisualization() for convenient access!

This method creates a new Visualization subclass which is given by the template parameter T. T must be a subclass of VirtualRobot::Visualization. A compile time error is thrown if a different class type is used as template argument.

◆ getVisualizationModelXML()

const std::string & VirtualRobot::SceneObject::getVisualizationModelXML ( ) const

◆ hasChild() [1/2]

bool VirtualRobot::SceneObject::hasChild	(	SceneObjectPtr	child,
		bool	recursive = `false`
	)		const

virtual

Returns: true, if child is attached

◆ hasChild() [2/2]

bool VirtualRobot::SceneObject::hasChild	(	const std::string &	childName,
		bool	recursive = `false`
	)		const

virtual

Returns: true, if child is attached

◆ hasParent()

bool VirtualRobot::SceneObject::hasParent ( ) const

virtual

Returns: true, if this object is attached to another object.

◆ highlight()

VisualizationNode VirtualRobot::SceneObject::highlight	(	VisualizationPtr	visualization,
		bool	enable
	)

Convenient method for highlighting the visualization of this object. It is automatically checked whether the collision model or the full model is part of the visualization.

See also

Parameters

visualization	The visualization for which the highlighting should be performed.
enable	Set or unset highlighting.

◆ initialize()

bool VirtualRobot::SceneObject::initialize	(	SceneObjectPtr	parent = `SceneObjectPtr()`,
		const std::vector< SceneObjectPtr > &	children = `std::vector<SceneObjectPtr>()`
	)

virtual

Initialize this object. Optionally the parents and children can be specified.

Reimplemented in VirtualRobot::RobotNode, VirtualRobot::Sensor, VirtualRobot::RobotNodeHemisphere, VirtualRobot::RobotNodePrismatic, VirtualRobot::RobotNodeFixed, VirtualRobot::RobotNodeRevolute, and VirtualRobot::GraspableSensorizedObject.

◆ initializePhysics()

bool VirtualRobot::SceneObject::initializePhysics ( )

protectedvirtual

◆ print()

void VirtualRobot::SceneObject::print	(	bool	printChildren = `false`,
		bool	printDecoration = `true`
	)		const

virtual

Reimplemented in VirtualRobot::RobotNode, VirtualRobot::Robot, VirtualRobot::RobotNodeHemisphere, VirtualRobot::Sensor, VirtualRobot::ContactSensor, VirtualRobot::RobotNodePrismatic, VirtualRobot::RobotNodeFixed, VirtualRobot::RobotNodeRevolute, VirtualRobot::ForceTorqueSensor, VirtualRobot::PositionSensor, and VirtualRobot::CameraSensor.

◆ reloadVisualizationFromXML()

bool VirtualRobot::SceneObject::reloadVisualizationFromXML ( bool useVisAsColModelIfMissing = true )

◆ saveModelFiles()

bool VirtualRobot::SceneObject::saveModelFiles	(	const std::string &	modelPath,
		bool	replaceFilenames
	)

virtual

Saves model files (visu and col model, if present) to model path.

Parameters

modelPath	The path where the model files should be stored.
replsceFilenames	If set, the filenames will be replaced with 'name_visu' and 'name_col'. Otherwise the original filename is used without any preceding paths.

◆ setCollisionModel()

void VirtualRobot::SceneObject::setCollisionModel ( CollisionModelPtr colModel )

◆ setCoMLocal()

void VirtualRobot::SceneObject::setCoMLocal ( const Eigen::Vector3f & comLocal )

Set a new position for the CoM of this bode.

Note: Use with caution! Some algorithm/systems checks this value only on start up, e.g. the physics simulation.

Parameters

comLocal Center of Mass in local frame.

See also: getComLocal()

◆ setFriction()

void VirtualRobot::SceneObject::setFriction ( float friction )

◆ setGlobalPose()

void VirtualRobot::SceneObject::setGlobalPose ( const Eigen::Matrix4f & pose )

virtual

Update the pose of this object. The visualization and collision models are updated accordingly.

Parameters

pose	The new pose of this object

Reimplemented in VirtualRobot::LocalRobot, VirtualRobot::Robot, VirtualRobot::RobotNode, and VirtualRobot::Sensor.

◆ setGlobalPoseNoChecks()

void VirtualRobot::SceneObject::setGlobalPoseNoChecks ( const Eigen::Matrix4f & pose )

virtual

Usually it is checked weather the object is linked to a parent. This check can be omitted (be careful, just do this if you know the effects)

Parameters

pose	The new pose of this object

◆ setInertiaMatrix()

void VirtualRobot::SceneObject::setInertiaMatrix ( const Eigen::Matrix3f & im )

◆ setMass()

void VirtualRobot::SceneObject::setMass ( float m )

◆ setName()

void VirtualRobot::SceneObject::setName ( const std::string & name )

Rename this object

◆ setScaling()

void VirtualRobot::SceneObject::setScaling ( float scaling )

◆ setSimulationType()

void VirtualRobot::SceneObject::setSimulationType ( Physics::SimulationType s )

◆ setUpdateCollisionModel()

void VirtualRobot::SceneObject::setUpdateCollisionModel ( bool enable )

virtual

Reimplemented in VirtualRobot::Robot.

◆ setUpdateVisualization()

void VirtualRobot::SceneObject::setUpdateVisualization ( bool enable )

virtual

Enables/Disables the visualization updates of collision model and visualization model.

Reimplemented in VirtualRobot::Robot.

◆ setupVisualization()

void VirtualRobot::SceneObject::setupVisualization	(	bool	showVisualization,
		bool	showAttachedVisualizations
	)

virtual

Setup the visualization of this object.

Parameters

showVisualization	If false, the visualization is disabled.
showAttachedVisualizations	If false, the visualization of any attached optional visualizations is disabled.

Reimplemented in VirtualRobot::Robot.

◆ setVisualization()

void VirtualRobot::SceneObject::setVisualization ( VisualizationNodePtr visualization )

Sets the main visualization of this object.

◆ shiftInertia()

Eigen::Matrix3f VirtualRobot::SceneObject::shiftInertia	(	const Eigen::Matrix3f	inertiaMatrix,
		const Eigen::Vector3f &	shift,
		float	mass
	)

static

The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem)

Parameters

inertiaMatrix
shift
mass

Returns

◆ showBoundingBox()

void VirtualRobot::SceneObject::showBoundingBox	(	bool	enable,
		bool	wireframe = `false`
	)

virtual

Display the bounding box of this object's collisionModel. The bbox is not updated when you move the object, so you have to call this method again after touching the scene in order to ensure a correct visualization. If the object does not own a visualization yet, the VisualizationFactory is queried to get the first registered VisualizationType in order to build a valid visualization. enable Show or hide bounding box wireframe Wireframe or solid visualization.

◆ showCoordinateSystem()

void VirtualRobot::SceneObject::showCoordinateSystem	(	bool	enable,
		float	scaling = `1.0f`,
		std::string *	text = `NULL`,
		const std::string &	visualizationType = `""`
	)

virtual

Display the coordinate system of this object. If the object does not own a visualization yet, the VisualizationFactory is queried to get the first registered VisualizationType in order to build a valid visualization. enable Show or hide coordinate system scaling Size of coordinate system text Text to display at coordinate system. If not given, the name of this robot node will be displayed.

Reimplemented in VirtualRobot::RobotNode.

◆ showCoordinateSystemState()

bool VirtualRobot::SceneObject::showCoordinateSystemState ( )

virtual

Returns true when the coordinate system is currently shown.

◆ showPhysicsInformation()

void VirtualRobot::SceneObject::showPhysicsInformation	(	bool	enableCoM,
		bool	enableInertial,
		VisualizationNodePtr	comModel = `VisualizationNodePtr()`
	)

virtual

Display some physics debugging information. enableCoM If true, the center of mass is shown (if given). If a comModel is given it is used for visualization, otherwise a standrad marker is shown. enableInertial If true, a visualization of the inertial matrix is shown (if given). comModel If set, this visualization is used to display the CoM location. If not set, a standard marker is used.

Reimplemented in VirtualRobot::Robot.

◆ toGlobalCoordinateSystem()

Eigen::Matrix4f VirtualRobot::SceneObject::toGlobalCoordinateSystem ( const Eigen::Matrix4f & poseLocal ) const

Transforms the pose, given in local coordinate system, to the global coordinate system.

Parameters

poseLocal The pose, given in local coordinate system of this joint, that should be transformed to the global coordinate system.

Returns: The transformed pose.

◆ toGlobalCoordinateSystemVec()

Eigen::Vector3f VirtualRobot::SceneObject::toGlobalCoordinateSystemVec ( const Eigen::Vector3f & positionLocal ) const

◆ toLocalCoordinateSystem()

Eigen::Matrix4f VirtualRobot::SceneObject::toLocalCoordinateSystem ( const Eigen::Matrix4f & poseGlobal ) const

Transforms the pose, given in global coordinate system, to the local coordinate system of this object.

Parameters

poseGlobal The pose, given in global coordinate system, that should be transformed to the local coordinate system of this joint.

Returns: The transformed pose.

◆ toLocalCoordinateSystemVec()

Eigen::Vector3f VirtualRobot::SceneObject::toLocalCoordinateSystemVec ( const Eigen::Vector3f & positionGlobal ) const

◆ transformTo() [1/2]

Eigen::Matrix4f VirtualRobot::SceneObject::transformTo	(	const SceneObjectPtr	otherObject,
		const Eigen::Matrix4f &	poseInOtherCoordSystem
	)

Transform pose to local coordinate system of this object

◆ transformTo() [2/2]

Eigen::Vector3f VirtualRobot::SceneObject::transformTo	(	const SceneObjectPtr	otherObject,
		const Eigen::Vector3f &	positionInOtherCoordSystem
	)

Transform position to local coordinate system of this object

◆ updatePose() [1/2]

void VirtualRobot::SceneObject::updatePose ( bool updateChildren = true )

virtual

Compute the global pose of this object.

Reimplemented in VirtualRobot::RobotNode, and VirtualRobot::Sensor.

◆ updatePose() [2/2]

void VirtualRobot::SceneObject::updatePose	(	const Eigen::Matrix4f &	parentPose,
		bool	updateChildren = `true`
	)

protectedvirtual

Reimplemented in VirtualRobot::RobotNode, and VirtualRobot::Sensor.

Friends And Related Function Documentation

◆ RobotFactory

friend class RobotFactory

friend

Field Documentation

◆ basePath

std::filesystem::path VirtualRobot::SceneObject::basePath

protected

◆ children

std::vector<SceneObjectPtr> VirtualRobot::SceneObject::children

protected

◆ collisionChecker

CollisionCheckerPtr VirtualRobot::SceneObject::collisionChecker

protected

◆ collisionModel

CollisionModelPtr VirtualRobot::SceneObject::collisionModel

protected

◆ collisionModelXML

std::string VirtualRobot::SceneObject::collisionModelXML

protected

◆ globalPose

Eigen::Matrix4f VirtualRobot::SceneObject::globalPose

protected

◆ initialized

bool VirtualRobot::SceneObject::initialized

protected

◆ name

std::string VirtualRobot::SceneObject::name

protected

◆ parent

SceneObjectWeakPtr VirtualRobot::SceneObject::parent

protected

◆ physics

Physics VirtualRobot::SceneObject::physics

protected

◆ scaling

float VirtualRobot::SceneObject::scaling = 1.0f

protected

◆ updateCollisionModel

bool VirtualRobot::SceneObject::updateCollisionModel

protected

◆ updateVisualization

bool VirtualRobot::SceneObject::updateVisualization

protected

◆ visualizationModel

VisualizationNodePtr VirtualRobot::SceneObject::visualizationModel

protected

◆ visualizationModelXML

std::string VirtualRobot::SceneObject::visualizationModelXML

protected

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ VisualizationType

Constructor & Destructor Documentation

◆ SceneObject() [1/2]

◆ ~SceneObject()

◆ SceneObject() [2/2]

Member Function Documentation

◆ _clone()

◆ attachChild()

◆ attached()

◆ clone() [1/2]

◆ clone() [2/2]

◆ copyPoseFrom()

◆ detachChild()

◆ detachedFromParent()

◆ ensureVisualization()

◆ getChildren()

◆ getCollisionChecker()

◆ getCollisionModel()

◆ getCoMGlobal()

◆ getCoMLocal()

◆ getFilenameReplacementColModel()

◆ getFilenameReplacementVisuModel()

◆ getFriction()

◆ getGlobalDirection()

◆ getGlobalOrientation() [1/2]

◆ getGlobalOrientation() [2/2]

◆ getGlobalPose() [1/2]

◆ getGlobalPose() [2/2]

◆ getGlobalPosition() [1/2]

◆ getGlobalPosition() [2/2]

◆ getIgnoredCollisionModels()

◆ getInertiaMatrix() [1/4]

◆ getInertiaMatrix() [2/4]

◆ getInertiaMatrix() [3/4]

◆ getInertiaMatrix() [4/4]

◆ getMass()

◆ getName()

◆ getNumFaces()

◆ getParent()

◆ getPhysics()

◆ getScaling()

◆ getSceneObjectXMLString()

◆ getSimulationType()

◆ getTransformationFrom()

◆ getTransformationTo()

◆ getUpdateCollisionModelStatus()

◆ getUpdateVisualizationStatus()

◆ getVisualization() [1/2]

◆ getVisualization() [2/2]

◆ getVisualizationModelXML()

◆ hasChild() [1/2]

◆ hasChild() [2/2]

◆ hasParent()

◆ highlight()

◆ initialize()

◆ initializePhysics()

◆ print()

◆ reloadVisualizationFromXML()

◆ saveModelFiles()

◆ setCollisionModel()

◆ setCoMLocal()

◆ setFriction()

◆ setGlobalPose()

◆ setGlobalPoseNoChecks()

◆ setInertiaMatrix()

◆ setMass()

◆ setName()

◆ setScaling()

◆ setSimulationType()

◆ setUpdateCollisionModel()

◆ setUpdateVisualization()

◆ setupVisualization()