tgRod Class Reference

#include <tgRod.h>

Inheritance diagram for tgRod:

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Classes
struct	Config

Public Member Functions
	tgRod (btRigidBody *pRigidBody, const tgTags &tags, const double length)
virtual	~tgRod ()
virtual void	teardown ()
virtual void	onVisit (const tgModelVisitor &v) const
double	length () const
virtual double	mass () const
virtual btVector3	centerOfMass () const
virtual btRigidBody *	getPRigidBody ()
virtual btVector3	orientation () const
virtual void	setup (tgWorld &world)
virtual void	step (double dt)
void	addChild (tgModel *pChild)
virtual std::string	toString (std::string prefix="") const
template<typename T >
std::vector< T * >	find (const tgTagSearch &tagSearch)
template<typename T >
std::vector< T * >	find (const std::string &tagSearch)
std::vector< tgModel * >	getDescendants () const
const std::vector < abstractMarker > &	getMarkers () const
void	addMarker (abstractMarker a)
void	addTags (const std::string &space_separated_tags)
void	addTags (const tgTags &tags)
bool	hasTag (const std::string tag) const
bool	hasAllTags (std::string tags)
bool	hasAnyTags (const std::string tags)
bool	hasNoTags ()
tgTags &	getTags ()
const tgTags &	getTags () const
void	setTags (tgTags tags)
std::string	getTagStr (std::string delim=" ") const

Protected Attributes
btRigidBody *	m_pRigidBody
const double	m_mass

Detailed Description

A rod is a rigid body. Length is defined by nodes, radius and density are defined by config.

Definition at line 43 of file tgRod.h.

Constructor & Destructor Documentation

tgRod::~tgRod ( )

virtual

A class with a virtual memeber function requires a virtual destructor.

Definition at line 74 of file tgRod.cpp.

Member Function Documentation

void tgModel::addChild ( tgModel *  pChild )

inherited

Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.

Parameters

[in,out]

pChild

a pointer to a sub-model

Exceptions

std::invalid_argument

is pChild is NULL, this object, or already a descendant

Todo:

Make sure that every child appears no more than once in the tree.

Definition at line 124 of file tgModel.cpp.

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btVector3 tgBaseRigid::centerOfMass ( ) const

virtualinherited

Return the center of mass of the rod, a vector in 3-space.

Returns

the center of mass of the rod, a vector in 3-space

Definition at line 74 of file tgBaseRigid.cpp.

template<typename T >

std::vector<T*> tgModel::find ( const tgTagSearch &  tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in]

tagSearch,a

tagSearch that contains the desired tags

Returns

a std::vector of pointers to members that match the tag search and typename T

Definition at line 125 of file tgModel.h.

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template<typename T >

std::vector<T*> tgModel::find ( const std::string &  tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in]

tagSearch,a

std::string& that contains the desired tags

Returns

a std::vector of pointers to members that match the tag search and typename T

Definition at line 138 of file tgModel.h.

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std::vector< tgModel * > tgModel::getDescendants ( ) const

inherited

Return a std::vector of const pointers to all sub-models.

Todo:

examine whether this should be public, and perhaps create a read only version

Returns

a std::vector of const pointers all sub-models.

Todo:

Unnecessary copying can be avoided by pasing the result collection in the recursive step.

Definition at line 172 of file tgModel.cpp.

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virtual btRigidBody* tgBaseRigid::getPRigidBody ( )

inlinevirtualinherited

Getter for rigid body

Definition at line 76 of file tgBaseRigid.h.

double tgRod::length ( ) const

inline

Return the rod's length in application-dependent units.

Returns

the rod's length in application-dependent units

Definition at line 102 of file tgRod.h.

virtual double tgBaseRigid::mass ( ) const

inlinevirtualinherited

Return the rod's mass in application-dependent units.

Returns

the rod's mass in application-dependent units

Definition at line 65 of file tgBaseRigid.h.

void tgRod::onVisit ( const tgModelVisitor &  v ) const

virtual

Double dispatch funciton. Will pass itself and any children back to the tgModelVisitor

Reimplemented from tgBaseRigid.

Definition at line 76 of file tgRod.cpp.

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btVector3 tgBaseRigid::orientation ( ) const

virtualinherited

Return the rod's orientation in Euler angles.

Returns

3-vector of these euler angles

Definition at line 87 of file tgBaseRigid.cpp.

void tgModel::setup ( tgWorld &  world )

virtualinherited

Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.

Parameters

[in]

world

- the tgWorld the models will exist in.

Reimplemented in tgSpringCableActuator, tgKinematicActuator, DuCTTTestModel, NestedBoxTestModel, NestedStructureTestModel, VerticalSpineModel, tgPrismatic, T6Model, tgCraterDeep, Wall, pidTestRig, CraterDeep, PrismModel, MuscleNPCons, tgCraterShallow, SuperBallModel, tsTestRig, Crater, PrismModel, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, T6Model, T6Model, Escape_T6Model, EscapeModel, SingleRibModel, SingleRibModel, T6Model, hillyMuscleNP, simpleMuscleNP, Hilbert2DModel, tgBasicActuator, ContactTestModel, RBStringTest, TetraSpineStaticModel_hf, BaseSpineModelLearning, StructureTestModel, TetraSpineCollisions, TetraSpineStaticModel, ConnectorTestModel, TetraSpineLearningModel, BuildTestModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.

Definition at line 57 of file tgModel.cpp.

void tgModel::step ( double  dt )

virtualinherited

Advance the simulation.

Parameters

[in]

dt

the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive

Exceptions

std::invalid_argument

if dt is not positive

Note

This is not necessarily const for every child.

Reimplemented in tgSpringCableActuator, NestedStructureTestModel, ConnectorTestModel, BuildTestModel, ContactTestModel, tgKinematicActuator, StructureTestModel, DuCTTTestModel, T6Model, pidTestRig, PrismModel, NestedBoxTestModel, NestedStructureTestModel, SuperBallModel, tsTestRig, PrismModel, MuscleNPCons, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, T6Model, T6Model, VerticalSpineModel, Escape_T6Model, EscapeModel, T6Model, tgCraterDeep, tgBasicActuator, Wall, CraterDeep, tgPrismatic, hillyMuscleNP, simpleMuscleNP, tgCraterShallow, Crater, RBStringTest, TetraSpineStaticModel_hf, BaseSpineModelLearning, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.

Definition at line 84 of file tgModel.cpp.

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void tgRod::teardown ( )

virtual

Sets the btRigidBody to NULL

Reimplemented from tgBaseRigid.

Definition at line 82 of file tgRod.cpp.

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std::string tgModel::toString ( std::string  prefix = "" ) const

virtualinherited

Returns the tag names of this model and its children

Parameters

[in]

prefix

a string to append to

Returns

the original string with this model and its children's tags appended

Definition at line 154 of file tgModel.cpp.

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Member Data Documentation

const double tgBaseRigid::m_mass

protectedinherited

The rod's mass. The units are application dependent.

Definition at line 105 of file tgBaseRigid.h.

btRigidBody* tgBaseRigid::m_pRigidBody

protectedinherited

The Bullet Physics implementation of the rod.

Definition at line 102 of file tgBaseRigid.h.

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

• core/tgRod.h
• core/tgRod.cpp