hpp::model::Body Class Reference

Geometry associated to a Joint. More...

#include <hpp/model/body.hh>

List of all members.

Public Member Functions
JointPtr_t	joint () const
	Get joint holding the body.
void	joint (JointPtr_t joint)
	Set joint holding the body.
const fcl::Vec3f &	localCenterOfMass () const
void	localCenterOfMass (const fcl::Vec3f &localCenterOfMass)
	Set postion of center of mass in joint reference frame.
const matrix3_t &	inertiaMatrix () const
	Get Intertia matrix expressed in joint local reference frame.
void	inertiaMatrix (const matrix3_t &inertiaMatrix)
	Set inertia matrix.
value_type	mass () const
	Get mass.
void	mass (value_type mass)
	Set mass.
Construction and copy and destruction
Constructor
	Body ()
	Body (const Body &body)
	Copy constructor.
BodyPtr_t	clone (const JointPtr_t &joint) const
	Clone body and attach to given joint.
virtual	~Body ()
Name
void	name (const std::string &name)
	Set name.
std::string	name () const
	Get name.
Inner objects
virtual void	addInnerObject (const CollisionObjectPtr_t &object, bool collision, bool distance)
	Add an object to the body.
virtual void	removeInnerObject (const CollisionObjectPtr_t &object, bool collision, bool distance)
	Remove an object to the body.
const ObjectVector_t &	innerObjects (Request_t type) const
	Access to inner objects.
value_type	radius () const
	Get radius.
Outer objects
virtual void	addOuterObject (const CollisionObjectPtr_t &object, bool collision, bool distance)
	Add an object as obstacle for this body.
virtual void	removeOuterObject (const CollisionObjectPtr_t &object, bool collision, bool distance)
	Remove an obstacle to the body.
const ObjectVector_t &	outerObjects (Request_t type) const
	Access to outer objects.
Collision and distance computation
bool	collisionTest () const
	Test for collision.
void	computeDistances (DistanceResults_t &results, DistanceResults_t::size_type &offset)
	Compute distances between pairs of objects stored in bodies.

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Detailed Description

Geometry associated to a Joint.

A body is a geometry container attached to a joint. The body contains objects (CollisionObject) that move with the joint and called inner objects.

Collision and distance computation is performed against other objects that can be obstacles or objects attached to other joints. These object are called outer objects for the body.

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Constructor & Destructor Documentation

hpp::model::Body::Body

(

)

hpp::model::Body::Body

(

const Body &

body

)

Copy constructor.

virtual hpp::model::Body::~Body

(

)

[inline, virtual]

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Member Function Documentation

virtual void hpp::model::Body::addInnerObject	(	const CollisionObjectPtr_t &	object,
		bool	collision,
		bool	distance
	)		[virtual]

Add an object to the body.

Parameters:

object	object to add. Position of object is expressed in world frame.
collision	whether this object should be considered for collision
distance	whether this object should be considered for distance computation

Note:

If object is already in body, do nothing.

virtual void hpp::model::Body::addOuterObject	(	const CollisionObjectPtr_t &	object,
		bool	collision,
		bool	distance
	)		[virtual]

Add an object as obstacle for this body.

Parameters:

object	object to add. Position of object is expressed in world frame.
collision	whether this object should be considered for collision
distance	whether this object should be considered for distance computation

Note:

If object is already in body, do nothing.

Warning:

Added objects by this method will be unknown from the Device and will not be reset by it

BodyPtr_t hpp::model::Body::clone

(

const JointPtr_t &

joint

)

const

Clone body and attach to given joint.

inner and outer object lists are filled with copies of the objects contained in the lists of this. (See CollisionObject::clone).

bool hpp::model::Body::collisionTest

(

)

const

Test for collision.

Returns:

true if collision, false if no collision

void hpp::model::Body::computeDistances	(	DistanceResults_t &	results,
		DistanceResults_t::size_type &	offset
	)

Compute distances between pairs of objects stored in bodies.

const matrix3_t& hpp::model::Body::inertiaMatrix

(

)

const [inline]

Get Intertia matrix expressed in joint local reference frame.

void hpp::model::Body::inertiaMatrix

(

const matrix3_t &

inertiaMatrix

)

[inline]

Set inertia matrix.

const ObjectVector_t& hpp::model::Body::innerObjects

(

Request_t

type

)

const

Access to inner objects.

Parameters:

type	Collision or distance

JointPtr_t hpp::model::Body::joint

(

)

const [inline]

Get joint holding the body.

void hpp::model::Body::joint

(

JointPtr_t

joint

)

[inline]

Set joint holding the body.

References joint().

Referenced by joint().

const fcl::Vec3f& hpp::model::Body::localCenterOfMass

(

)

const [inline]

void hpp::model::Body::localCenterOfMass

(

const fcl::Vec3f &

localCenterOfMass

)

[inline]

Set postion of center of mass in joint reference frame.

value_type hpp::model::Body::mass

(

)

const [inline]

Get mass.

void hpp::model::Body::mass

(

value_type

mass

)

[inline]

Set mass.

void hpp::model::Body::name

(

const std::string &

name

)

[inline]

Set name.

References name().

Referenced by name().

std::string hpp::model::Body::name

(

)

const [inline]

Get name.

const ObjectVector_t& hpp::model::Body::outerObjects

(

Request_t

type

)

const

Access to outer objects.

Parameters:

type	Collision or distance

value_type hpp::model::Body::radius

(

)

const [inline]

Get radius.

Radius is defined as an upper-bound to the distance of all points of the body to the origin of the joint that holds the body.

virtual void hpp::model::Body::removeInnerObject	(	const CollisionObjectPtr_t &	object,
		bool	collision,
		bool	distance
	)		[virtual]

Remove an object to the body.

Parameters:

object	object to remove
collision	whether this object should be removed from list of collision objects
distance	whether this object should be removed from list of distance computation objects

Note:

If object is not in body, do nothing

virtual void hpp::model::Body::removeOuterObject	(	const CollisionObjectPtr_t &	object,
		bool	collision,
		bool	distance
	)		[virtual]

Remove an obstacle to the body.

Parameters:

object	object to remove
collision	whether this object should be removed from list of collision objects
distance	whether this object should be removed from list of distance computation objects

Note:

If object is not in body, do nothing