Entity class is a base class for any objects that exist in the kinematic tree structure of DART. More...

#include <Entity.hpp>

Inheritance diagram for dart::dynamics::Entity:

Public Types
using	EntitySignal = common::Signal< void(const Entity *)>

using	FrameChangedSignal = common::Signal< void(const Entity , const Frame _oldFrame, const Frame *_newFrame)>

using	NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>

Public Member Functions
	Entity (Frame *_refFrame, bool _quiet)
	Constructor for typical usage. More...

	Entity ()
	Default constructor, delegates to Entity(ConstructAbstract_t) More...

	Entity (const Entity &)=delete

virtual	~Entity ()
	Destructor. More...

virtual const std::string &	setName (const std::string &_name)=0
	Set name. More...

virtual const std::string &	getName () const =0
	Return the name of this Entity. More...

Frame *	getParentFrame ()
	Get the parent (reference) frame of this Entity. More...

const Frame *	getParentFrame () const
	Get the parent (reference) frame of this Entity. More...

bool	descendsFrom (const Frame *_someFrame) const
	Returns true if and only if this Entity is itself (i.e. More...

bool	isFrame () const
	True iff this Entity is also a Frame. More...

bool	isQuiet () const
	Returns true if this Entity is set to be quiet. More...

virtual void	notifyTransformUpdate ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed. More...

virtual void	dirtyTransform ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed. More...

bool	needsTransformUpdate () const
	Returns true iff a transform update is needed for this Entity. More...

virtual void	notifyVelocityUpdate ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed. More...

virtual void	dirtyVelocity ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed. More...

bool	needsVelocityUpdate () const
	Returns true iff a velocity update is needed for this Entity. More...

virtual void	notifyAccelerationUpdate ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed. More...

virtual void	dirtyAcceleration ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed. More...

bool	needsAccelerationUpdate () const
	Returns true iff an acceleration update is needed for this Entity. More...

Protected Types
enum	ConstructFrameTag { ConstructFrame }
	Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it. More...

enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Entity constructor is just a formality. More...

Protected Member Functions
	Entity (ConstructFrameTag)

	Entity (ConstructAbstractTag)

virtual void	changeParentFrame (Frame *_newParentFrame)
	Used by derived classes to change their parent frames. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

Protected Attributes
Frame *	mParentFrame
	Parent frame of this Entity. More...

bool	mNeedTransformUpdate
	Does this Entity need a Transform update. More...

bool	mNeedVelocityUpdate
	Does this Entity need a Velocity update. More...

bool	mNeedAccelerationUpdate
	Does this Entity need an Acceleration update. More...

FrameChangedSignal	mFrameChangedSignal
	Frame changed signal. More...

NameChangedSignal	mNameChangedSignal
	Name changed signal. More...

EntitySignal	mTransformUpdatedSignal
	Transform changed signal. More...

EntitySignal	mVelocityChangedSignal
	Velocity changed signal. More...

EntitySignal	mAccelerationChangedSignal
	Acceleration changed signal. More...

std::set< Observer * >	mObservers
	List of current Observers. More...

Friends
class	Frame

Slot registers
common::SlotRegister< FrameChangedSignal >	onFrameChanged
	Slot register for frame changed signal. More...

common::SlotRegister< NameChangedSignal >	onNameChanged
	Slot register for name changed signal. More...

common::SlotRegister< EntitySignal >	onTransformUpdated
	Slot register for transform updated signal. More...

common::SlotRegister< EntitySignal >	onVelocityChanged
	Slot register for velocity updated signal. More...

common::SlotRegister< EntitySignal >	onAccelerationChanged
	Slot register for acceleration updated signal. More...

const bool	mAmQuiet
	Whether or not this Entity is set to be quiet. More...

bool	mAmFrame
	Whether or not this Entity is a Frame. More...

Detailed Description

Entity class is a base class for any objects that exist in the kinematic tree structure of DART.

Entities all share the following properties: they exist within a reference frame, have a name, and are visualizable. However, different Entity types may have different policies about how/if their reference frame or name can be changed. Use the Detachable class to create an Entity whose reference Frame can be changed arbitrarily.

Member Typedef Documentation

◆ EntitySignal

using dart::dynamics::Entity::EntitySignal = common::Signal<void(const Entity*)>

◆ FrameChangedSignal

using dart::dynamics::Entity::FrameChangedSignal = common::Signal<void( const Entity*, const Frame* _oldFrame, const Frame* _newFrame)>

◆ NameChangedSignal

using dart::dynamics::Entity::NameChangedSignal = common::Signal<void( const Entity*, const std::string& _oldName, const std::string& _newName)>

Member Enumeration Documentation

◆ ConstructAbstractTag

enum dart::dynamics::Entity::ConstructAbstractTag

protected

Used when constructing a pure abstract class, because calling the Entity constructor is just a formality.

Enumerator
ConstructAbstract

◆ ConstructFrameTag

enum dart::dynamics::Entity::ConstructFrameTag

protected

Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

Enumerator
ConstructFrame

Constructor & Destructor Documentation

◆ Entity() [1/5]

dart::dynamics::Entity::Entity	(	Frame *	_refFrame,
		bool	_quiet
	)

explicit

Constructor for typical usage.

◆ Entity() [2/5]

dart::dynamics::Entity::Entity ( )

Default constructor, delegates to Entity(ConstructAbstract_t)

◆ Entity() [3/5]

dart::dynamics::Entity::Entity ( const Entity & )

delete

◆ ~Entity()

dart::dynamics::Entity::~Entity ( )

virtual

Destructor.

◆ Entity() [4/5]

dart::dynamics::Entity::Entity ( ConstructFrameTag )

explicitprotected

◆ Entity() [5/5]

dart::dynamics::Entity::Entity ( ConstructAbstractTag )

explicitprotected

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ changeParentFrame()

void dart::dynamics::Entity::changeParentFrame ( Frame * _newParentFrame )

protectedvirtual

Used by derived classes to change their parent frames.

Reimplemented in dart::dynamics::Frame.

◆ descendsFrom()

bool dart::dynamics::Entity::descendsFrom ( const Frame * _someFrame ) const

Returns true if and only if this Entity is itself (i.e.

this == _someFrame) or depends on (i.e. kinematically descends from) _someFrame.

If _someFrame is nullptr, this returns true in order to accommodate BodyNodes which always have a nullptr BodyNode as the parent of a root BodyNode.

◆ dirtyAcceleration()

void dart::dynamics::Entity::dirtyAcceleration ( )

virtual

Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

Reimplemented in dart::dynamics::PointMassNotifier, dart::dynamics::Frame, and dart::dynamics::BodyNode.

◆ dirtyTransform()

void dart::dynamics::Entity::dirtyTransform ( )

virtual

Notify the transformation update of this Entity that its parent Frame's pose is needed.

Reimplemented in dart::dynamics::PointMassNotifier, dart::dynamics::Frame, and dart::dynamics::BodyNode.

◆ dirtyVelocity()

void dart::dynamics::Entity::dirtyVelocity ( )

virtual

Notify the velocity update of this Entity that its parent Frame's velocity is needed.

Reimplemented in dart::dynamics::PointMassNotifier, dart::dynamics::Frame, and dart::dynamics::BodyNode.

◆ getName()

virtual const std::string& dart::dynamics::Entity::getName ( ) const

pure virtual

Return the name of this Entity.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::PointMassNotifier, and dart::dynamics::BodyNode.

◆ getParentFrame() [1/2]

Frame * dart::dynamics::Entity::getParentFrame ( )

Get the parent (reference) frame of this Entity.

◆ getParentFrame() [2/2]

const Frame * dart::dynamics::Entity::getParentFrame ( ) const

Get the parent (reference) frame of this Entity.

◆ isFrame()

bool dart::dynamics::Entity::isFrame ( ) const

True iff this Entity is also a Frame.

◆ isQuiet()

bool dart::dynamics::Entity::isQuiet ( ) const

Returns true if this Entity is set to be quiet.

A quiet entity is unknown to its parent Frame. It will not be tracked by its parent; it will not receive notifications from its parent, and it will not be rendered. The advantage to a quiet Entity is that it has less overhead when constructing and deconstructing, which makes it more suitable for temporary objects.

◆ needsAccelerationUpdate()

bool dart::dynamics::Entity::needsAccelerationUpdate ( ) const

Returns true iff an acceleration update is needed for this Entity.

◆ needsTransformUpdate()

bool dart::dynamics::Entity::needsTransformUpdate ( ) const

Returns true iff a transform update is needed for this Entity.

◆ needsVelocityUpdate()

bool dart::dynamics::Entity::needsVelocityUpdate ( ) const

Returns true iff a velocity update is needed for this Entity.

◆ notifyAccelerationUpdate()

void dart::dynamics::Entity::notifyAccelerationUpdate ( )

virtual

Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

◆ notifyTransformUpdate()

void dart::dynamics::Entity::notifyTransformUpdate ( )

virtual

Notify the transformation update of this Entity that its parent Frame's pose is needed.

◆ notifyVelocityUpdate()

void dart::dynamics::Entity::notifyVelocityUpdate ( )

virtual

Notify the velocity update of this Entity that its parent Frame's velocity is needed.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setName()

virtual const std::string& dart::dynamics::Entity::setName ( const std::string & _name )

pure virtual

Set name.

Some implementations of Entity may make alterations to the name that gets passed in. The final name that this entity will use gets passed back in the return of this function.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::PointMassNotifier, and dart::dynamics::BodyNode.

Friends And Related Function Documentation

◆ Frame

friend class Frame

friend

Member Data Documentation

◆ mAccelerationChangedSignal

EntitySignal dart::dynamics::Entity::mAccelerationChangedSignal

protected

Acceleration changed signal.

◆ mAmFrame

bool dart::dynamics::Entity::mAmFrame

private

Whether or not this Entity is a Frame.

◆ mAmQuiet

const bool dart::dynamics::Entity::mAmQuiet

private

Whether or not this Entity is set to be quiet.

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal

protected

Frame changed signal.

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::Entity::mNameChangedSignal

protected

Name changed signal.

◆ mNeedAccelerationUpdate

bool dart::dynamics::Entity::mNeedAccelerationUpdate

mutableprotected

Does this Entity need an Acceleration update.

◆ mNeedTransformUpdate

bool dart::dynamics::Entity::mNeedTransformUpdate

mutableprotected

Does this Entity need a Transform update.

◆ mNeedVelocityUpdate

bool dart::dynamics::Entity::mNeedVelocityUpdate

mutableprotected

Does this Entity need a Velocity update.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mParentFrame

Frame* dart::dynamics::Entity::mParentFrame

protected

Parent frame of this Entity.

◆ mTransformUpdatedSignal

EntitySignal dart::dynamics::Entity::mTransformUpdatedSignal

protected

Transform changed signal.

◆ mVelocityChangedSignal

EntitySignal dart::dynamics::Entity::mVelocityChangedSignal

protected

Velocity changed signal.

◆ onAccelerationChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onAccelerationChanged

Slot register for acceleration updated signal.

◆ onFrameChanged

common::SlotRegister<FrameChangedSignal> dart::dynamics::Entity::onFrameChanged

Slot register for frame changed signal.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::dynamics::Entity::onNameChanged

Slot register for name changed signal.

◆ onTransformUpdated

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onTransformUpdated

Slot register for transform updated signal.

◆ onVelocityChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onVelocityChanged

Slot register for velocity updated signal.

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Slot registers

Detailed Description

Member Typedef Documentation

◆ EntitySignal

◆ FrameChangedSignal

◆ NameChangedSignal

Member Enumeration Documentation

◆ ConstructAbstractTag

◆ ConstructFrameTag

Constructor & Destructor Documentation

◆ Entity() [1/5]

◆ Entity() [2/5]

◆ Entity() [3/5]

◆ ~Entity()

◆ Entity() [4/5]

◆ Entity() [5/5]

Member Function Documentation

◆ addObserver()

◆ changeParentFrame()

◆ descendsFrom()

◆ dirtyAcceleration()

◆ dirtyTransform()

◆ dirtyVelocity()

◆ getName()

◆ getParentFrame() [1/2]

◆ getParentFrame() [2/2]

◆ isFrame()

◆ isQuiet()

◆ needsAccelerationUpdate()

◆ needsTransformUpdate()

◆ needsVelocityUpdate()

◆ notifyAccelerationUpdate()

◆ notifyTransformUpdate()

◆ notifyVelocityUpdate()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setName()

Friends And Related Function Documentation

◆ Frame

Member Data Documentation

◆ mAccelerationChangedSignal

◆ mAmFrame

◆ mAmQuiet

◆ mFrameChangedSignal

◆ mNameChangedSignal

◆ mNeedAccelerationUpdate

◆ mNeedTransformUpdate

◆ mNeedVelocityUpdate

◆ mObservers

◆ mParentFrame

◆ mTransformUpdatedSignal

◆ mVelocityChangedSignal

◆ onAccelerationChanged

◆ onFrameChanged

◆ onNameChanged

◆ onTransformUpdated

◆ onVelocityChanged