LinkComponent Class Reference

these let you build the link from a series of model and material settings instead of one static model/material for the whole link More...

#include <KinematicJoint.h>

Inheritance diagram for LinkComponent:

[legend]

Detailed Description

these let you build the link from a series of model and material settings instead of one static model/material for the whole link

note recursive structure... in this case, each is relative to its recursive parent instead of preceeding item in the array (as is done for KinematicJoint's serialization)

Definition at line 22 of file KinematicJoint.h.

List of all members.

Public Member Functions
	LinkComponent ()
	constructor
	LinkComponent (const LinkComponent &c)
	explicit copy constructor needed to set bbLowListener and bbHighListener (which aren't copied)
LinkComponent &	operator= (const LinkComponent &link)
	assignment, except for parent
virtual	~LinkComponent ()
PlannerObstacle2D *	getObstacle (const fmat::Transform &worldT) const
	Returns a 2D planner obstacle of this component's collision object, or NULL if no collision model is specified.
void	getObstacles (const fmat::Transform &worldT, HierarchicalObstacle &obs, bool recurse) const
	Inserts 2D projections of this link's collision components into obs, if recurse is set, recurses on branches.
virtual BoundingBox3D	getOwnAABB () const
	Returns the axis-aligned bounding box (relative to link frame) of this component only (i.e. for KinematicJoint, ignores subcomponents).
const BoundingBox3D &	getAABB () const
	Returns the axis-aligned bounding box (relative to link frame) of this component and any subcomponents.
bool	getOwnBB2D (const fmat::Transform &worldT, RectangularObstacle &ro) const
	Computes the tightest-fitting 2D rectangle for this link (writing the result into ro).
bool	getOwnBB3D (const fmat::Transform &worldT, BoxObstacle &bo) const
	Computes a 3D box for this link (writing the result into bo).
bool	getBB2D (const fmat::Transform &worldT, RectangularObstacle &ro) const
	Computes a 2D rectangle for this link and its subcomponents (writing the result into ro).
bool	getBB3D (const fmat::Transform &worldT, BoxObstacle &bo) const
	Computes a 3D box for this link and its subcomponents (writing the result into bo).
fmat::Column< 4 >	getMassVector () const
	return the center of mass of this component, ONLY, as a homogenous scaled vector
virtual void	sumLinkCenterOfMass (fmat::Column< 3 > &cOfM, float &totalMass) const
	returns the center of mass of this link only, not including any branches; if this is actually a KinematicJoint, will include subcomponents
virtual fmat::Column< 4 >	sumLinkCenterOfMass () const
	returns the unnormalized center of mass of this link only, not including any branches; if this is actually a KinematicJoint, will include subcomponents
virtual bool	hasMass () const
	returns true if mass is greater than zero, of if this is a KinematicJoint, if any of the components have mass greater than zero
void	getModelTransform (fmat::Transform &tr) const
	converts the model rotation and offset members into the supplied fmat::Transform
fmat::Transform	getModelTransform () const
	returns the model rotation and offset members as a fmat::Transform
void	getCollisionModelTransform (fmat::Transform &tr) const
	converts the collision model rotation and offset members into the supplied fmat::Transform
fmat::Transform	getCollisionModelTransform () const
	returns the model rotation and offset members as a fmat::Transform
KinematicJoint *	getParent () const
	returns parent joint, or NULL if this is the first joint, see addBranch()/removeBranch()
KinematicJoint *	getNextMobileAncestor () const
	returns the next mobile ancestor joint in the kinematic chain
virtual LinkComponent *	clone () const __attribute__((warn_unused_result))
	clone implementation for Dictionary
Public Attributes
plist::Primitive< float >	mass
	the mass of the component in kilograms
plist::Point	centerOfMass
	the center of mass of this component
plist::Primitive< bool >	visible
	if false, will only be shown in the Mirage host's flying camera
plist::Primitive< std::string >	material
	mesh files specify "default" textures, but this can override with a different material
plist::Primitive< std::string >	model
	name of an OGRE mesh file; if set to "CollisionModel" will display collisionModel (and apply values from collisionModelScale, collisionModelRotation, and collisionModelOffset)
plist::Point	modelScale
	scaling factor to apply to model
plist::Point	modelRotation
	rotation to apply to model (specifies axis component of quaternion, e.g. from axis/angle: axis * sin(angle/2) )
plist::Point	modelOffset
	a translation to apply to model
plist::Primitive< std::string >	collisionModel
	name of an OGRE mesh file, or one of a set of primitives (Cube, Cylinder, Sphere)
plist::Point	collisionModelScale
	scaling factor to apply to collisionModel
plist::Point	collisionModelRotation
	rotation to apply to collisionModel (specifies axis component of quaternion, e.g. from axis/angle: axis * sin(angle/2) )
plist::Point	collisionModelOffset
	a translation to apply to collisionModel
Protected Member Functions
virtual void	dirtyBB ()
	sets bbDirty to true to cause it to be recomputed on next getAABB() call
virtual void	updateBB () const
	recomputes boundingBoxLow and boundingBoxHigh based on collision model parameters
void	computeOwnAABB (BoundingBox3D &bb) const
void	init ()
Static Protected Member Functions
static void	computeBB2D (const fmat::Transform &fullT, RectangularObstacle &ro, const fmat::Column< 3 > &obD)
Protected Attributes
KinematicJoint *	parent
	if non-NULL, the parent joint to which this one is attached
bool	bbDirty
	indicates bounding boxes need to be recomputed
BoundingBox3D	boundingBox
	bounding box of this link (including subcomponents, but not child links)
plist::PrimitiveCallbackMember < LinkComponent >	collisionModelListener
	if going from empty string to non-empty string, indicates bounding box values need to be rebuilt
plist::CollectionCallbackMember < LinkComponent >	collisionModelScaleListener
	indicates bounding box values need to be rebuilt
plist::CollectionCallbackMember < LinkComponent >	collisionModelRotationListener
	indicates bounding box values need to be rebuilt
plist::CollectionCallbackMember < LinkComponent >	collisionModelOffsetListener
	indicates bounding box values need to be rebuilt
Friends
class	KinematicJoint

Constructor & Destructor Documentation

LinkComponent::LinkComponent ( )

constructor

Definition at line 27 of file KinematicJoint.h.

LinkComponent::LinkComponent ( const LinkComponent & c )

explicit copy constructor needed to set bbLowListener and bbHighListener (which aren't copied)

Definition at line 42 of file KinematicJoint.h.

virtual LinkComponent::~LinkComponent ( ) [virtual]

Definition at line 78 of file KinematicJoint.h.

Member Function Documentation

LinkComponent * LinkComponent::clone ( ) const [virtual]

clone implementation for Dictionary

implements the clone function for dictionary

Reimplemented from plist::DictionaryOf< PO, Alloc >.

Reimplemented in KinematicJoint.

Definition at line 12 of file KinematicJoint.cc.

void LinkComponent::computeBB2D	(	const fmat::Transform &	fullT,
		RectangularObstacle &	ro,
		const fmat::Column< 3 > &	obD
	)			`[static, protected]`

Definition at line 677 of file KinematicJoint.cc.

Referenced by getBB2D(), and getOwnBB2D().

void LinkComponent::computeOwnAABB ( BoundingBox3D & bb ) const [protected]

Definition at line 596 of file KinematicJoint.cc.

Referenced by KinematicJoint::getOwnAABB(), and updateBB().

void LinkComponent::dirtyBB ( ) [protected, virtual]

sets bbDirty to true to cause it to be recomputed on next getAABB() call

Reimplemented in KinematicJoint.

Definition at line 590 of file KinematicJoint.cc.

const BoundingBox3D& LinkComponent::getAABB ( ) const

Returns the axis-aligned bounding box (relative to link frame) of this component and any subcomponents.

Definition at line 108 of file KinematicJoint.h.

Referenced by getBB2D(), getBB3D(), and getOwnAABB().

bool LinkComponent::getBB2D	(	const fmat::Transform &	worldT,
		RectangularObstacle &	ro
	)			const

Computes a 2D rectangle for this link and its subcomponents (writing the result into ro).

will be in the world coordinates, projecting the link collision model down the world's Z into its XY plane. The rectangle will be aligned to the link axis (i.e. this is getAABB() projected into the world.)

Definition at line 655 of file KinematicJoint.cc.

Referenced by RRTNode2DR< N >::CollisionChecker::LinkObstacle::setObstacle(), and RRTNode2DR< N >::CollisionChecker::JointObstacle::setObstacle().

bool LinkComponent::getBB3D	(	const fmat::Transform &	worldT,
		BoxObstacle &	bo
	)			const

Computes a 3D box for this link and its subcomponents (writing the result into bo).

will be in the world coordinates. The rectangle will be aligned to the link axis (i.e. this is getAABB() projected into the world.)

Definition at line 665 of file KinematicJoint.cc.

Referenced by RRTNode3DR< N >::CollisionChecker::LinkObstacle::setupObstacle(), and RRTNode3DR< N >::CollisionChecker::JointObstacle::setupObstacle().

fmat::Transform LinkComponent::getCollisionModelTransform ( ) const

returns the model rotation and offset members as a fmat::Transform

Definition at line 155 of file KinematicJoint.h.

Referenced by getOwnBB2D(), and getOwnBB3D().

void LinkComponent::getCollisionModelTransform ( fmat::Transform & tr ) const

converts the collision model rotation and offset members into the supplied fmat::Transform

Definition at line 533 of file KinematicJoint.cc.

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle().

fmat::Column<4> LinkComponent::getMassVector ( ) const

return the center of mass of this component, ONLY, as a homogenous scaled vector

The last element (homogeneous scale factor) is left as the total mass, so divide by this value to normalize. Otherwise, just access centerOfMass directly.

Definition at line 131 of file KinematicJoint.h.

Referenced by XWalkMC::sendLoadPredictions(), sumLinkCenterOfMass(), and KinematicJoint::sumLinkCenterOfMass().

fmat::Transform LinkComponent::getModelTransform ( ) const

returns the model rotation and offset members as a fmat::Transform

Definition at line 147 of file KinematicJoint.h.

void LinkComponent::getModelTransform ( fmat::Transform & tr ) const

converts the model rotation and offset members into the supplied fmat::Transform

Definition at line 528 of file KinematicJoint.cc.

KinematicJoint * LinkComponent::getNextMobileAncestor ( ) const

returns the next mobile ancestor joint in the kinematic chain

Definition at line 538 of file KinematicJoint.cc.

Referenced by RRTNode3DR< N >::CollisionChecker::CollisionChecker(), RRTNode2DR< N >::CollisionChecker::CollisionChecker(), ShapeSpacePlanner2DR< N >::ShapeSpacePlanner2DR(), and ShapeSpacePlanner3DR< N >::ShapeSpacePlanner3DR().

PlannerObstacle2D * LinkComponent::getObstacle ( const fmat::Transform & worldT ) const

Returns a 2D planner obstacle of this component's collision object, or NULL if no collision model is specified.

This is a new allocation, caller is responsible for deallocation.

Definition at line 548 of file KinematicJoint.cc.

Referenced by getObstacles().

void LinkComponent::getObstacles	(	const fmat::Transform &	worldT,
		HierarchicalObstacle &	obs,
		bool	recurse
	)			const

Inserts 2D projections of this link's collision components into obs, if recurse is set, recurses on branches.

Reimplemented in KinematicJoint.

Definition at line 571 of file KinematicJoint.cc.

virtual BoundingBox3D LinkComponent::getOwnAABB ( ) const [virtual]

Returns the axis-aligned bounding box (relative to link frame) of this component only (i.e. for KinematicJoint, ignores subcomponents).

Reimplemented in KinematicJoint.

Definition at line 105 of file KinematicJoint.h.

bool LinkComponent::getOwnBB2D	(	const fmat::Transform &	worldT,
		RectangularObstacle &	ro
	)			const

Computes the tightest-fitting 2D rectangle for this link (writing the result into ro).

will be in the world coordinates, projecting the link collision model down the world's Z into its XY plane.

Definition at line 633 of file KinematicJoint.cc.

Referenced by ShapeSpaceCollisionCheckerBase< 2 >::addDisplayRobotObstacles(), ShapeSpaceCollisionCheckerBase< 2 >::addRobotObstacles(), ShapeSpacePlanner2DR< N >::getBoxes(), getObstacle(), RRTNode2DR< N >::CollisionChecker::LinkObstacle::setObstacle(), and RRTNode2DR< N >::CollisionChecker::JointObstacle::setObstacle().

bool LinkComponent::getOwnBB3D	(	const fmat::Transform &	worldT,
		BoxObstacle &	bo
	)			const

Computes a 3D box for this link (writing the result into bo).

will be in the world coordinates

Definition at line 643 of file KinematicJoint.cc.

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle(), ShapeSpacePlanner3DR< N >::getBoxes(), ShapeSpacePlanner3DR< N >::plotPath(), RRTNode3DR< N >::CollisionChecker::LinkObstacle::setupObstacle(), and RRTNode3DR< N >::CollisionChecker::JointObstacle::setupObstacle().

KinematicJoint* LinkComponent::getParent ( ) const

returns parent joint, or NULL if this is the first joint, see addBranch()/removeBranch()

Definition at line 160 of file KinematicJoint.h.

Referenced by Grasper::checkGoalCandidate(), IKCalliope::closestSolution(), IKThreeLink::computeFirstLinkPrismatic(), IKThreeLink::computeFirstLinkRevolute(), IKThreeLink::computeSecondLinkPrismatic(), IKThreeLink::computeSecondLinkRevolute(), IKThreeLink::computeThirdLinkPrismatic(), IKThreeLink::computeThirdLinkRevolute(), ArmController::doStart(), Grasper::getCurrentState(), getNextMobileAncestor(), IKCalliope::gradientSolve(), IKCalliope::IKCalliope(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), ArmController::pointPicked(), XWalkMC::sendLoadPredictions(), ArmController::sendReachablePoints(), IKThreeLink::setLinks(), IKGradientSolver::solve(), IKCalliope::solve(), XWalkMC::solveIK(), GaitedFootstepMC::solveIK(), PostureEngine::solveLink(), PostureEngine::solveLinkOrientation(), PostureEngine::solveLinkPosition(), IKGradientSolver::step(), and XWalkMC::stop().

virtual bool LinkComponent::hasMass ( ) const [virtual]

returns true if mass is greater than zero, of if this is a KinematicJoint, if any of the components have mass greater than zero

Reimplemented in KinematicJoint.

Definition at line 141 of file KinematicJoint.h.

void LinkComponent::init ( ) [protected]

Definition at line 178 of file KinematicJoint.h.

Referenced by LinkComponent().

LinkComponent& LinkComponent::operator= ( const LinkComponent & link )

assignment, except for parent

Definition at line 57 of file KinematicJoint.h.

virtual fmat::Column<4> LinkComponent::sumLinkCenterOfMass ( ) const [virtual]

returns the unnormalized center of mass of this link only, not including any branches; if this is actually a KinematicJoint, will include subcomponents

The last element (homogeneous scale factor) is left as the total mass, so divide by this value to normalize.

Reimplemented in KinematicJoint.

Definition at line 138 of file KinematicJoint.h.

Referenced by sumLinkCenterOfMass().

void LinkComponent::sumLinkCenterOfMass	(	fmat::Column< 3 > &	cOfM,
		float &	totalMass
	)			const `[virtual]`

returns the center of mass of this link only, not including any branches; if this is actually a KinematicJoint, will include subcomponents

Definition at line 298 of file KinematicJoint.cc.

void LinkComponent::updateBB ( ) const [protected, virtual]

recomputes boundingBoxLow and boundingBoxHigh based on collision model parameters

Reimplemented in KinematicJoint.

Definition at line 619 of file KinematicJoint.cc.

Referenced by getAABB().

Friends And Related Function Documentation

friend class KinematicJoint [friend]

Definition at line 23 of file KinematicJoint.h.

Member Data Documentation

bool LinkComponent::bbDirty [mutable, protected]

indicates bounding boxes need to be recomputed

Definition at line 170 of file KinematicJoint.h.

Referenced by KinematicJoint::dirtyBB(), dirtyBB(), getAABB(), operator=(), and updateBB().

BoundingBox3D LinkComponent::boundingBox [mutable, protected]

bounding box of this link (including subcomponents, but not child links)

Definition at line 171 of file KinematicJoint.h.

Referenced by getAABB(), operator=(), KinematicJoint::updateBB(), and updateBB().

plist::Point LinkComponent::centerOfMass

the center of mass of this component

Definition at line 81 of file KinematicJoint.h.

Referenced by getMassVector(), init(), and operator=().

plist::Primitive<std::string> LinkComponent::collisionModel

name of an OGRE mesh file, or one of a set of primitives (Cube, Cylinder, Sphere)

Definition at line 92 of file KinematicJoint.h.

Referenced by ShapeSpaceCollisionCheckerBase< 2 >::addDisplayRobotObstacles(), ShapeSpaceCollisionCheckerBase< 2 >::addRobotObstacles(), computeOwnAABB(), ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle(), PhysicsBody::getModel(), PhysicsBody::ComponentListener::getModel(), getObstacle(), getOwnBB2D(), getOwnBB3D(), init(), and operator=().

plist::PrimitiveCallbackMember<LinkComponent> LinkComponent::collisionModelListener [protected]

if going from empty string to non-empty string, indicates bounding box values need to be rebuilt

Definition at line 195 of file KinematicJoint.h.

plist::Point LinkComponent::collisionModelOffset

a translation to apply to collisionModel

Definition at line 95 of file KinematicJoint.h.

Referenced by computeOwnAABB(), getCollisionModelTransform(), init(), and operator=().

plist::CollectionCallbackMember<LinkComponent> LinkComponent::collisionModelOffsetListener [protected]

indicates bounding box values need to be rebuilt

Definition at line 198 of file KinematicJoint.h.

plist::Point LinkComponent::collisionModelRotation

rotation to apply to collisionModel (specifies axis component of quaternion, e.g. from axis/angle: axis * sin(angle/2) )

Definition at line 94 of file KinematicJoint.h.

Referenced by computeOwnAABB(), getCollisionModelTransform(), getObstacle(), init(), and operator=().

plist::CollectionCallbackMember<LinkComponent> LinkComponent::collisionModelRotationListener [protected]

indicates bounding box values need to be rebuilt

Definition at line 197 of file KinematicJoint.h.

plist::Point LinkComponent::collisionModelScale

scaling factor to apply to collisionModel

Definition at line 93 of file KinematicJoint.h.

Referenced by computeOwnAABB(), ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle(), getOwnBB2D(), getOwnBB3D(), init(), and operator=().

plist::CollectionCallbackMember<LinkComponent> LinkComponent::collisionModelScaleListener [protected]

indicates bounding box values need to be rebuilt

Definition at line 196 of file KinematicJoint.h.

plist::Primitive<float> LinkComponent::mass

the mass of the component in kilograms

Definition at line 80 of file KinematicJoint.h.

Referenced by getMassVector(), hasMass(), KinematicJoint::hasMass(), init(), and operator=().

plist::Primitive<std::string> LinkComponent::material

mesh files specify "default" textures, but this can override with a different material

Definition at line 85 of file KinematicJoint.h.

Referenced by init(), and operator=().

plist::Primitive<std::string> LinkComponent::model

name of an OGRE mesh file; if set to "CollisionModel" will display collisionModel (and apply values from collisionModelScale, collisionModelRotation, and collisionModelOffset)

Definition at line 87 of file KinematicJoint.h.

Referenced by ShapeSpaceCollisionCheckerBase< 2 >::addDisplayRobotObstacles(), ShapeSpaceCollisionCheckerBase< 2 >::addRobotObstacles(), ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle(), PhysicsBody::getModel(), PhysicsBody::ComponentListener::getModel(), and operator=().