DART  6.10.1
dart::dynamics::ShapeFrame Class Referenceabstract

#include <ShapeFrame.hpp>

Inheritance diagram for dart::dynamics::ShapeFrame:
dart::common::VersionCounter dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases > dart::dynamics::Frame dart::common::CompositeJoiner< EmbedProperties< DerivedT, PropertiesDataT >, CompositeBases... > dart::dynamics::Entity dart::common::Subject dart::dynamics::SimpleFrame dart::gui::osg::InteractiveFrame dart::gui::osg::InteractiveTool

Public Types

using ShapeUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const ShapePtr &oldShape, const ShapePtr &newShape)>
 
using RelativeTransformUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const Eigen::Isometry3d &oldTransform, const Eigen::Isometry3d &newTransform)>
 
using UniqueProperties = AspectProperties
 
using Properties = UniqueProperties
 
using Impl = EmbedProperties< DerivedT, PropertiesDataT >
 
using Derived = typename Impl::Derived
 
using AspectPropertiesData = typename Impl::AspectPropertiesData
 
using AspectProperties = typename Impl::AspectProperties
 
using Aspect = typename Impl::Aspect
 
using Base = CompositeJoiner< Impl, CompositeBases... >
 
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

virtual ~ShapeFrame () override
 Destructor. More...
 
void setProperties (const UniqueProperties &properties)
 Set the UniqueProperties of this ShapeFrame. More...
 
void setAspectProperties (const AspectProperties &properties)
 Set the AspectProperties of this ShapeFrame. More...
 
const AspectPropertiesgetAspectProperties () const
 
void setShape (const ShapePtr &shape)
 Set shape. More...
 
ShapePtr getShape ()
 Return shape. More...
 
ConstShapePtr getShape () const
 Return (const) shape. More...
 
bool hasVisualAspect () const
 Check if this Composite currently has VisualAspect . More...
 
VisualAspectgetVisualAspect ()
 Get a(an) VisualAspect from this Composite. More...
 
const VisualAspectgetVisualAspect () const
 Get a(an) VisualAspect from this Composite. More...
 
VisualAspectgetVisualAspect (const bool createIfNull)
 Get a(an) VisualAspect from this Composite. More...
 
void setVisualAspect (const VisualAspect *aspect)
 Make a clone of VisualAspect and place the clone into this Composite. More...
 
void setVisualAspect (std::unique_ptr< VisualAspect > &&aspect)
 Use move semantics to place VisualAspect into this Composite. More...
 
template<typename... Args>
VisualAspectcreateVisualAspect (Args &&... args)
 Construct a(an) VisualAspect inside of this Composite. More...
 
void removeVisualAspect ()
 Remove a(an) VisualAspect from this Composite. More...
 
std::unique_ptr< VisualAspectreleaseVisualAspect ()
 Remove a(an) VisualAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
 
bool hasCollisionAspect () const
 Check if this Composite currently has CollisionAspect . More...
 
CollisionAspectgetCollisionAspect ()
 Get a(an) CollisionAspect from this Composite. More...
 
const CollisionAspectgetCollisionAspect () const
 Get a(an) CollisionAspect from this Composite. More...
 
CollisionAspectgetCollisionAspect (const bool createIfNull)
 Get a(an) CollisionAspect from this Composite. More...
 
void setCollisionAspect (const CollisionAspect *aspect)
 Make a clone of CollisionAspect and place the clone into this Composite. More...
 
void setCollisionAspect (std::unique_ptr< CollisionAspect > &&aspect)
 Use move semantics to place CollisionAspect into this Composite. More...
 
template<typename... Args>
CollisionAspectcreateCollisionAspect (Args &&... args)
 Construct a(an) CollisionAspect inside of this Composite. More...
 
void removeCollisionAspect ()
 Remove a(an) CollisionAspect from this Composite. More...
 
std::unique_ptr< CollisionAspectreleaseCollisionAspect ()
 Remove a(an) CollisionAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
 
bool hasDynamicsAspect () const
 Check if this Composite currently has DynamicsAspect . More...
 
DynamicsAspectgetDynamicsAspect ()
 Get a(an) DynamicsAspect from this Composite. More...
 
const DynamicsAspectgetDynamicsAspect () const
 Get a(an) DynamicsAspect from this Composite. More...
 
DynamicsAspectgetDynamicsAspect (const bool createIfNull)
 Get a(an) DynamicsAspect from this Composite. More...
 
void setDynamicsAspect (const DynamicsAspect *aspect)
 Make a clone of DynamicsAspect and place the clone into this Composite. More...
 
void setDynamicsAspect (std::unique_ptr< DynamicsAspect > &&aspect)
 Use move semantics to place DynamicsAspect into this Composite. More...
 
template<typename... Args>
DynamicsAspectcreateDynamicsAspect (Args &&... args)
 Construct a(an) DynamicsAspect inside of this Composite. More...
 
void removeDynamicsAspect ()
 Remove a(an) DynamicsAspect from this Composite. More...
 
std::unique_ptr< DynamicsAspectreleaseDynamicsAspect ()
 Remove a(an) DynamicsAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
 
ShapeFrameasShapeFrame () override
 Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...
 
const ShapeFrameasShapeFrame () const override
 Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...
 
bool isShapeNode () const
 Returns true if this Frame is a ShapeNode. More...
 
virtual ShapeNodeasShapeNode ()
 Convert 'this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr. More...
 
virtual const ShapeNodeasShapeNode () const
 Convert 'const this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr. More...
 
virtual std::size_t incrementVersion ()
 Increment the version for this object. More...
 
virtual std::size_t getVersion () const
 Get the version number of this object. More...
 
const AspectPropertiesgetAspectProperties () const
 
virtual const Eigen::Isometry3d & getRelativeTransform () const =0
 Get the transform of this Frame with respect to its parent Frame. More...
 
const Eigen::Isometry3d & getWorldTransform () const
 Get the transform of this Frame with respect to the World Frame. More...
 
Eigen::Isometry3d getTransform (const Frame *_withRespectTo=Frame::World()) const
 Get the transform of this Frame with respect to some other Frame. More...
 
Eigen::Isometry3d getTransform (const Frame *withRespectTo, const Frame *inCoordinatesOf) const
 Get the transform of this Frame with respect to some other Frame. More...
 
virtual const Eigen::Vector6dgetRelativeSpatialVelocity () const =0
 Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...
 
const Eigen::Vector6dgetSpatialVelocity () const
 Get the total spatial velocity of this Frame in the coordinates of this Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial velocity of this Frame relative to some other Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Eigen::Vector3d &_offset) const
 Get the spatial velocity of a fixed point in this Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial velocity of a fixed point in this Frame. More...
 
Eigen::Vector3d getLinearVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear portion of classical velocity of this Frame relative to some other Frame. More...
 
Eigen::Vector3d getLinearVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear velocity of a point that is fixed in this Frame. More...
 
Eigen::Vector3d getAngularVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the angular portion of classical velocity of this Frame relative to some other Frame. More...
 
virtual const Eigen::Vector6dgetRelativeSpatialAcceleration () const =0
 Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...
 
virtual const Eigen::Vector6dgetPrimaryRelativeAcceleration () const =0
 The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...
 
virtual const Eigen::Vector6dgetPartialAcceleration () const =0
 The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More...
 
const Eigen::Vector6dgetSpatialAcceleration () const
 Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial acceleration of this Frame relative to some other Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Eigen::Vector3d &_offset) const
 Get the spatial acceleration of a fixed point in this Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial acceleration of a fixed point in this Frame. More...
 
Eigen::Vector3d getLinearAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...
 
Eigen::Vector3d getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 
Eigen::Vector3d getAngularAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...
 
const std::set< Entity * > & getChildEntities ()
 Get a container with the Entities that are children of this Frame. More...
 
const std::set< const Entity * > getChildEntities () const
 Get a container with the Entities that are children of this Frame. More...
 
std::size_t getNumChildEntities () const
 Get the number of Entities that are currently children of this Frame. More...
 
const std::set< Frame * > & getChildFrames ()
 Get a container with the Frames that are children of this Frame. More...
 
std::set< const Frame * > getChildFrames () const
 Get a container with the Frames that are children of this Frame. More...
 
std::size_t getNumChildFrames () const
 Get the number of Frames that are currently children of this Frame. More...
 
bool isShapeFrame () const
 Returns true if this Frame is a ShapeFrame. More...
 
bool isWorld () const
 Returns true if this Frame is the World Frame. More...
 
virtual void dirtyTransform () override
 Notify the transformation updates of this Frame and all its children are needed. More...
 
virtual void dirtyVelocity () override
 Notify the velocity updates of this Frame and all its children are needed. More...
 
virtual void dirtyAcceleration () override
 Notify the acceleration updates of this Frame and all its children are needed. 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...
 
FramegetParentFrame ()
 Get the parent (reference) frame of this Entity. More...
 
const FramegetParentFrame () 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...
 
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...
 
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...
 
bool needsAccelerationUpdate () const
 Returns true iff an acceleration update is needed for this Entity. More...
 

Static Public Member Functions

static FrameWorld ()
 
static std::shared_ptr< FrameWorldShared ()
 

Public Attributes

common::SlotRegister< ShapeUpdatedSignalonShapeUpdated
 Slot register for shape updated signal. More...
 
common::SlotRegister< RelativeTransformUpdatedSignalonRelativeTransformUpdated
 Slot register for relative transformation updated signal. More...
 

Protected Types

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

Protected Member Functions

 ShapeFrame (Frame *parent, const Properties &properties)
 Constructor. More...
 
 ShapeFrame (Frame *parent, const ShapePtr &shape=nullptr)
 Constructor. More...
 
 ShapeFrame (const std::tuple< Frame *, Properties > &args)
 Delegating constructor. More...
 
void setVersionDependentObject (VersionCounter *dependent)
 
virtual void changeParentFrame (Frame *_newParentFrame) override
 Used by derived classes to change their parent frames. More...
 
virtual void processNewEntity (Entity *_newChildEntity)
 Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More...
 
virtual void processRemovedEntity (Entity *_oldChildEntity)
 Called when a child Entity is removed from its parent Frame. 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

bool mAmShapeNode
 Contains whether or not this is a ShapeNode. More...
 
ShapeUpdatedSignal mShapeUpdatedSignal
 Shape updated signal. More...
 
RelativeTransformUpdatedSignal mRelativeTransformUpdatedSignal
 Relative transformation updated signal. More...
 
common::Connection mConnectionForShapeVersionChange
 Connect to changes in the Shape version. More...
 
std::size_t mVersion
 
AspectProperties mAspectProperties
 Aspect::Properties data, directly accessible to your derived class. More...
 
Eigen::Isometry3d mWorldTransform
 World transform of this Frame. More...
 
Eigen::Vector6d mVelocity
 Total velocity of this Frame, in the coordinates of this Frame. More...
 
Eigen::Vector6d mAcceleration
 Total acceleration of this Frame, in the coordinates of this Frame. More...
 
std::set< Frame * > mChildFrames
 Container of this Frame's child Frames. More...
 
std::set< Entity * > mChildEntities
 Container of this Frame's child Entities. More...
 
FramemParentFrame
 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...
 

Private Types

enum  ConstructWorldTag { ConstructWorld }
 Used when constructing the World. More...
 

Private Attributes

VersionCountermDependent
 
const bool mAmWorld
 Contains whether or not this is the World Frame. More...
 
bool mAmShapeFrame
 Contains whether or not this is a ShapeFrame. More...
 

Friends

class BodyNode
 

Slot registers

common::SlotRegister< FrameChangedSignalonFrameChanged
 Slot register for frame changed signal. More...
 
common::SlotRegister< NameChangedSignalonNameChanged
 Slot register for name changed signal. More...
 
common::SlotRegister< EntitySignalonTransformUpdated
 Slot register for transform updated signal. More...
 
common::SlotRegister< EntitySignalonVelocityChanged
 Slot register for velocity updated signal. More...
 
common::SlotRegister< EntitySignalonAccelerationChanged
 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...
 

Member Typedef Documentation

◆ Aspect

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Aspect = typename Impl::Aspect
inherited

◆ AspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectProperties = typename Impl::AspectProperties
inherited

◆ AspectPropertiesData

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData
inherited

◆ Base

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Base = CompositeJoiner<Impl, CompositeBases...>
inherited

◆ Derived

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Derived = typename Impl::Derived
inherited

◆ EntitySignal

◆ FrameChangedSignal

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

◆ Impl

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Impl = EmbedProperties<DerivedT, PropertiesDataT>
inherited

◆ NameChangedSignal

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

◆ Properties

◆ RelativeTransformUpdatedSignal

using dart::dynamics::ShapeFrame::RelativeTransformUpdatedSignal = common::Signal<void( const ShapeFrame* thisShapeFrame, const Eigen::Isometry3d& oldTransform, const Eigen::Isometry3d& newTransform)>

◆ ShapeUpdatedSignal

using dart::dynamics::ShapeFrame::ShapeUpdatedSignal = common::Signal<void( const ShapeFrame* thisShapeFrame, const ShapePtr& oldShape, const ShapePtr& newShape)>

◆ UniqueProperties

Member Enumeration Documentation

◆ ConstructAbstractTag

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

Enumerator
ConstructAbstract 

◆ ConstructFrameTag

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

Enumerator
ConstructFrame 

◆ ConstructWorldTag

Used when constructing the World.

Enumerator
ConstructWorld 

Constructor & Destructor Documentation

◆ ~ShapeFrame()

dart::dynamics::ShapeFrame::~ShapeFrame ( )
overridevirtual

Destructor.

◆ ShapeFrame() [1/3]

dart::dynamics::ShapeFrame::ShapeFrame ( Frame parent,
const Properties properties 
)
protected

Constructor.

◆ ShapeFrame() [2/3]

dart::dynamics::ShapeFrame::ShapeFrame ( Frame parent,
const ShapePtr shape = nullptr 
)
protected

Constructor.

◆ ShapeFrame() [3/3]

dart::dynamics::ShapeFrame::ShapeFrame ( const std::tuple< Frame *, Properties > &  args)
protected

Delegating constructor.

Member Function Documentation

◆ addObserver()

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

Add an Observer to the list of Observers.

◆ asShapeFrame() [1/2]

const ShapeFrame * dart::dynamics::ShapeFrame::asShapeFrame ( ) const
overridevirtual

Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented from dart::dynamics::Frame.

◆ asShapeFrame() [2/2]

ShapeFrame * dart::dynamics::ShapeFrame::asShapeFrame ( )
overridevirtual

Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented from dart::dynamics::Frame.

◆ asShapeNode() [1/2]

ShapeNode * dart::dynamics::ShapeFrame::asShapeNode ( )
virtual

Convert 'this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr.

◆ asShapeNode() [2/2]

const ShapeNode * dart::dynamics::ShapeFrame::asShapeNode ( ) const
virtual

Convert 'const this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr.

This should be preferred over performing a dynamic_cast when you want to cast a ShapeFrame into a ShapeNode, because this method costs less.

◆ changeParentFrame()

void dart::dynamics::Frame::changeParentFrame ( Frame _newParentFrame)
overrideprotectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented from dart::dynamics::Entity.

◆ createCollisionAspect()

template<typename... Args>
CollisionAspect* dart::dynamics::ShapeFrame::createCollisionAspect ( Args &&...  args)
inline

Construct a(an) CollisionAspect inside of this Composite.

◆ createDynamicsAspect()

template<typename... Args>
DynamicsAspect* dart::dynamics::ShapeFrame::createDynamicsAspect ( Args &&...  args)
inline

Construct a(an) DynamicsAspect inside of this Composite.

◆ createVisualAspect()

template<typename... Args>
VisualAspect* dart::dynamics::ShapeFrame::createVisualAspect ( Args &&...  args)
inline

Construct a(an) VisualAspect inside of this Composite.

◆ descendsFrom()

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

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::Frame::dirtyAcceleration ( )
overridevirtualinherited

Notify the acceleration updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyTransform()

void dart::dynamics::Frame::dirtyTransform ( )
overridevirtualinherited

Notify the transformation updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyVelocity()

void dart::dynamics::Frame::dirtyVelocity ( )
overridevirtualinherited

Notify the velocity updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ getAngularAcceleration()

Eigen::Vector3d dart::dynamics::Frame::getAngularAcceleration ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the angular portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAngularVelocity()

Eigen::Vector3d dart::dynamics::Frame::getAngularVelocity ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the angular portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAspectProperties() [1/2]

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
const AspectProperties& dart::common::EmbedProperties< DerivedT, PropertiesDataT >::getAspectProperties
inlineinherited

◆ getAspectProperties() [2/2]

const ShapeFrame::AspectProperties & dart::dynamics::ShapeFrame::getAspectProperties ( ) const

◆ getChildEntities() [1/2]

const std::set< Entity * > & dart::dynamics::Frame::getChildEntities ( )
inherited

Get a container with the Entities that are children of this Frame.

std::set is used because Entities may be arbitrarily added and removed from a parent Frame, and each entry should be unique. std::set makes this procedure easier.

◆ getChildEntities() [2/2]

const std::set< const Entity * > dart::dynamics::Frame::getChildEntities ( ) const
inherited

Get a container with the Entities that are children of this Frame.

Note that this is version is slightly less efficient than the non-const version because it needs to rebuild a set where each pointer is converted to be a const pointer.

◆ getChildFrames() [1/2]

const std::set< Frame * > & dart::dynamics::Frame::getChildFrames ( )
inherited

Get a container with the Frames that are children of this Frame.

std::set is used because Frames may be arbitrarily added and removed from a parent Frame, and each entry should be unique.

◆ getChildFrames() [2/2]

std::set< const Frame * > dart::dynamics::Frame::getChildFrames ( ) const
inherited

Get a container with the Frames that are children of this Frame.

Note that this version is less efficient than the non-const version because it needs to rebuild a set so that the entries are const.

◆ getCollisionAspect() [1/3]

CollisionAspect* dart::dynamics::ShapeFrame::getCollisionAspect ( )
inline

Get a(an) CollisionAspect from this Composite.

◆ getCollisionAspect() [2/3]

const CollisionAspect* dart::dynamics::ShapeFrame::getCollisionAspect ( ) const
inline

Get a(an) CollisionAspect from this Composite.

◆ getCollisionAspect() [3/3]

CollisionAspect* dart::dynamics::ShapeFrame::getCollisionAspect ( const bool  createIfNull)
inline

Get a(an) CollisionAspect from this Composite.

If _createIfNull is true, then a(an) CollisionAspect will be generated if one does not already exist.

◆ getDynamicsAspect() [1/3]

DynamicsAspect* dart::dynamics::ShapeFrame::getDynamicsAspect ( )
inline

Get a(an) DynamicsAspect from this Composite.

◆ getDynamicsAspect() [2/3]

const DynamicsAspect* dart::dynamics::ShapeFrame::getDynamicsAspect ( ) const
inline

Get a(an) DynamicsAspect from this Composite.

◆ getDynamicsAspect() [3/3]

DynamicsAspect* dart::dynamics::ShapeFrame::getDynamicsAspect ( const bool  createIfNull)
inline

Get a(an) DynamicsAspect from this Composite.

If _createIfNull is true, then a(an) DynamicsAspect will be generated if one does not already exist.

◆ getLinearAcceleration() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

◆ getLinearAcceleration() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear velocity of a point that is fixed in this Frame.

You can specify a relative Frame, and it can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getName()

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

◆ getNumChildEntities()

std::size_t dart::dynamics::Frame::getNumChildEntities ( ) const
inherited

Get the number of Entities that are currently children of this Frame.

◆ getNumChildFrames()

std::size_t dart::dynamics::Frame::getNumChildFrames ( ) const
inherited

Get the number of Frames that are currently children of this Frame.

◆ getParentFrame() [1/2]

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

Get the parent (reference) frame of this Entity.

◆ getParentFrame() [2/2]

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

Get the parent (reference) frame of this Entity.

◆ getPartialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPartialAcceleration ( ) const
pure virtualinherited

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration.

This function returns that component of acceleration.

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

◆ getPrimaryRelativeAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPrimaryRelativeAcceleration ( ) const
pure virtualinherited

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration().

We save operations during our forward kinematics by computing and storing the partial acceleration separately from the rest of the Frame's acceleration. getPrimaryRelativeAcceleration() will return the portion of the relative spatial acceleration that is not contained in the partial acceleration. To get the full spatial acceleration of this Frame relative to its parent Frame, use getRelativeSpatialAcceleration(). To get the full spatial acceleration of this Frame relative to the World Frame, use getSpatialAcceleration().

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

◆ getRelativeSpatialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialAcceleration ( ) const
pure virtualinherited

Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame.

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

◆ getRelativeSpatialVelocity()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialVelocity ( ) const
pure virtualinherited

Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates.

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

◆ getRelativeTransform()

virtual const Eigen::Isometry3d& dart::dynamics::Frame::getRelativeTransform ( ) const
pure virtualinherited

Get the transform of this Frame with respect to its parent Frame.

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

◆ getShape() [1/2]

ShapePtr dart::dynamics::ShapeFrame::getShape ( )

Return shape.

◆ getShape() [2/2]

ConstShapePtr dart::dynamics::ShapeFrame::getShape ( ) const

Return (const) shape.

◆ getSpatialAcceleration() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialAcceleration ( ) const
inherited

Get the total spatial acceleration of this Frame in the coordinates of this Frame.

◆ getSpatialAcceleration() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d &  _offset) const
inherited

Get the spatial acceleration of a fixed point in this Frame.

The acceleration is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialAcceleration() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial acceleration of a fixed point in this Frame.

◆ getSpatialAcceleration() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialVelocity() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialVelocity ( ) const
inherited

Get the total spatial velocity of this Frame in the coordinates of this Frame.

◆ getSpatialVelocity() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d &  _offset) const
inherited

Get the spatial velocity of a fixed point in this Frame.

The velocity is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialVelocity() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial velocity of a fixed point in this Frame.

◆ getSpatialVelocity() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getTransform() [1/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame _withRespectTo = Frame::World()) const
inherited

Get the transform of this Frame with respect to some other Frame.

◆ getTransform() [2/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame withRespectTo,
const Frame inCoordinatesOf 
) const
inherited

Get the transform of this Frame with respect to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const
virtualinherited

Get the version number of this object.

◆ getVisualAspect() [1/3]

VisualAspect* dart::dynamics::ShapeFrame::getVisualAspect ( )
inline

Get a(an) VisualAspect from this Composite.

◆ getVisualAspect() [2/3]

const VisualAspect* dart::dynamics::ShapeFrame::getVisualAspect ( ) const
inline

Get a(an) VisualAspect from this Composite.

◆ getVisualAspect() [3/3]

VisualAspect* dart::dynamics::ShapeFrame::getVisualAspect ( const bool  createIfNull)
inline

Get a(an) VisualAspect from this Composite.

If _createIfNull is true, then a(an) VisualAspect will be generated if one does not already exist.

◆ getWorldTransform()

const Eigen::Isometry3d & dart::dynamics::Frame::getWorldTransform ( ) const
inherited

Get the transform of this Frame with respect to the World Frame.

◆ hasCollisionAspect()

bool dart::dynamics::ShapeFrame::hasCollisionAspect ( ) const
inline

Check if this Composite currently has CollisionAspect .

◆ hasDynamicsAspect()

bool dart::dynamics::ShapeFrame::hasDynamicsAspect ( ) const
inline

Check if this Composite currently has DynamicsAspect .

◆ hasVisualAspect()

bool dart::dynamics::ShapeFrame::hasVisualAspect ( ) const
inline

Check if this Composite currently has VisualAspect .

◆ incrementVersion()

std::size_t dart::common::VersionCounter::incrementVersion ( )
virtualinherited

Increment the version for this object.

Reimplemented in dart::dynamics::Shape.

◆ isFrame()

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

True iff this Entity is also a Frame.

◆ isQuiet()

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

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.

◆ isShapeFrame()

bool dart::dynamics::Frame::isShapeFrame ( ) const
inherited

Returns true if this Frame is a ShapeFrame.

◆ isShapeNode()

bool dart::dynamics::ShapeFrame::isShapeNode ( ) const

Returns true if this Frame is a ShapeNode.

◆ isWorld()

bool dart::dynamics::Frame::isWorld ( ) const
inherited

Returns true if this Frame is the World Frame.

◆ needsAccelerationUpdate()

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

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

◆ needsTransformUpdate()

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

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

◆ needsVelocityUpdate()

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

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

◆ notifyAccelerationUpdate()

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

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

◆ notifyTransformUpdate()

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

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

◆ notifyVelocityUpdate()

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

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

◆ processNewEntity()

void dart::dynamics::Frame::processNewEntity ( Entity _newChildEntity)
protectedvirtualinherited

Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways.

This function is a no op unless an inheriting class (such as BodyNode) overrides it.

Reimplemented in dart::dynamics::BodyNode.

◆ processRemovedEntity()

void dart::dynamics::Frame::processRemovedEntity ( Entity _oldChildEntity)
protectedvirtualinherited

Called when a child Entity is removed from its parent Frame.

This allows special post-processing to be performed for extensions of the Frame class.

Reimplemented in dart::dynamics::BodyNode.

◆ releaseCollisionAspect()

std::unique_ptr< CollisionAspect > dart::dynamics::ShapeFrame::releaseCollisionAspect ( )
inline

Remove a(an) CollisionAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) CollisionAspect between two Composites.

◆ releaseDynamicsAspect()

std::unique_ptr< DynamicsAspect > dart::dynamics::ShapeFrame::releaseDynamicsAspect ( )
inline

Remove a(an) DynamicsAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) DynamicsAspect between two Composites.

◆ releaseVisualAspect()

std::unique_ptr< VisualAspect > dart::dynamics::ShapeFrame::releaseVisualAspect ( )
inline

Remove a(an) VisualAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) VisualAspect between two Composites.

◆ removeCollisionAspect()

void dart::dynamics::ShapeFrame::removeCollisionAspect ( )
inline

Remove a(an) CollisionAspect from this Composite.

◆ removeDynamicsAspect()

void dart::dynamics::ShapeFrame::removeDynamicsAspect ( )
inline

Remove a(an) DynamicsAspect from this Composite.

◆ removeObserver()

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

Remove an Observer from the list of Observers.

◆ removeVisualAspect()

void dart::dynamics::ShapeFrame::removeVisualAspect ( )
inline

Remove a(an) VisualAspect from this Composite.

◆ 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.

◆ setAspectProperties()

void dart::dynamics::ShapeFrame::setAspectProperties ( const AspectProperties properties)

Set the AspectProperties of this ShapeFrame.

◆ setCollisionAspect() [1/2]

void dart::dynamics::ShapeFrame::setCollisionAspect ( const CollisionAspect aspect)
inline

Make a clone of CollisionAspect and place the clone into this Composite.

If a(an) CollisionAspect already exists in this Composite, the existing CollisionAspect will be destroyed.

◆ setCollisionAspect() [2/2]

void dart::dynamics::ShapeFrame::setCollisionAspect ( std::unique_ptr< CollisionAspect > &&  aspect)
inline

Use move semantics to place CollisionAspect into this Composite.

If a(an) CollisionAspect already exists in this Composite, the existing CollisionAspect will be destroyed.

◆ setDynamicsAspect() [1/2]

void dart::dynamics::ShapeFrame::setDynamicsAspect ( const DynamicsAspect aspect)
inline

Make a clone of DynamicsAspect and place the clone into this Composite.

If a(an) DynamicsAspect already exists in this Composite, the existing DynamicsAspect will be destroyed.

◆ setDynamicsAspect() [2/2]

void dart::dynamics::ShapeFrame::setDynamicsAspect ( std::unique_ptr< DynamicsAspect > &&  aspect)
inline

Use move semantics to place DynamicsAspect into this Composite.

If a(an) DynamicsAspect already exists in this Composite, the existing DynamicsAspect will be destroyed.

◆ setName()

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

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.

◆ setProperties()

void dart::dynamics::ShapeFrame::setProperties ( const UniqueProperties properties)

Set the UniqueProperties of this ShapeFrame.

◆ setShape()

void dart::dynamics::ShapeFrame::setShape ( const ShapePtr shape)

Set shape.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter dependent)
protectedinherited

◆ setVisualAspect() [1/2]

void dart::dynamics::ShapeFrame::setVisualAspect ( const VisualAspect aspect)
inline

Make a clone of VisualAspect and place the clone into this Composite.

If a(an) VisualAspect already exists in this Composite, the existing VisualAspect will be destroyed.

◆ setVisualAspect() [2/2]

void dart::dynamics::ShapeFrame::setVisualAspect ( std::unique_ptr< VisualAspect > &&  aspect)
inline

Use move semantics to place VisualAspect into this Composite.

If a(an) VisualAspect already exists in this Composite, the existing VisualAspect will be destroyed.

◆ World()

Frame * dart::dynamics::Frame::World ( )
staticinherited

◆ WorldShared()

std::shared_ptr< Frame > dart::dynamics::Frame::WorldShared ( )
staticinherited

Friends And Related Function Documentation

◆ BodyNode

friend class BodyNode
friend

Member Data Documentation

◆ mAcceleration

Eigen::Vector6d dart::dynamics::Frame::mAcceleration
mutableprotectedinherited

Total acceleration of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialAcceleration() to access this quantity

◆ mAccelerationChangedSignal

EntitySignal dart::dynamics::Entity::mAccelerationChangedSignal
protectedinherited

Acceleration changed signal.

◆ mAmFrame

bool dart::dynamics::Entity::mAmFrame
privateinherited

Whether or not this Entity is a Frame.

◆ mAmQuiet

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

Whether or not this Entity is set to be quiet.

◆ mAmShapeFrame

bool dart::dynamics::Frame::mAmShapeFrame
privateinherited

Contains whether or not this is a ShapeFrame.

◆ mAmShapeNode

bool dart::dynamics::ShapeFrame::mAmShapeNode
protected

Contains whether or not this is a ShapeNode.

◆ mAmWorld

const bool dart::dynamics::Frame::mAmWorld
privateinherited

Contains whether or not this is the World Frame.

◆ mAspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>
AspectProperties dart::common::EmbedProperties< DerivedT, PropertiesDataT >::mAspectProperties
protectedinherited

Aspect::Properties data, directly accessible to your derived class.

◆ mChildEntities

std::set<Entity*> dart::dynamics::Frame::mChildEntities
protectedinherited

Container of this Frame's child Entities.

◆ mChildFrames

std::set<Frame*> dart::dynamics::Frame::mChildFrames
protectedinherited

Container of this Frame's child Frames.

◆ mConnectionForShapeVersionChange

common::Connection dart::dynamics::ShapeFrame::mConnectionForShapeVersionChange
protected

Connect to changes in the Shape version.

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent
privateinherited

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal
protectedinherited

Frame changed signal.

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::Entity::mNameChangedSignal
protectedinherited

Name changed signal.

◆ mNeedAccelerationUpdate

bool dart::dynamics::Entity::mNeedAccelerationUpdate
mutableprotectedinherited

Does this Entity need an Acceleration update.

◆ mNeedTransformUpdate

bool dart::dynamics::Entity::mNeedTransformUpdate
mutableprotectedinherited

Does this Entity need a Transform update.

◆ mNeedVelocityUpdate

bool dart::dynamics::Entity::mNeedVelocityUpdate
mutableprotectedinherited

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
protectedinherited

Parent frame of this Entity.

◆ mRelativeTransformUpdatedSignal

RelativeTransformUpdatedSignal dart::dynamics::ShapeFrame::mRelativeTransformUpdatedSignal
protected

Relative transformation updated signal.

◆ mShapeUpdatedSignal

ShapeUpdatedSignal dart::dynamics::ShapeFrame::mShapeUpdatedSignal
protected

Shape updated signal.

◆ mTransformUpdatedSignal

EntitySignal dart::dynamics::Entity::mTransformUpdatedSignal
protectedinherited

Transform changed signal.

◆ mVelocity

Eigen::Vector6d dart::dynamics::Frame::mVelocity
mutableprotectedinherited

Total velocity of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialVelocity() to access this quantity

◆ mVelocityChangedSignal

EntitySignal dart::dynamics::Entity::mVelocityChangedSignal
protectedinherited

Velocity changed signal.

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion
protectedinherited

◆ mWorldTransform

Eigen::Isometry3d dart::dynamics::Frame::mWorldTransform
mutableprotectedinherited

World transform of this Frame.

This object is mutable to enable auto-updating to happen in the const member getWorldTransform() function

Do not use directly! Use getWorldTransform() to access this quantity

◆ onAccelerationChanged

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

Slot register for acceleration updated signal.

◆ onFrameChanged

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

Slot register for frame changed signal.

◆ onNameChanged

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

Slot register for name changed signal.

◆ onRelativeTransformUpdated

common::SlotRegister<RelativeTransformUpdatedSignal> dart::dynamics::ShapeFrame::onRelativeTransformUpdated

Slot register for relative transformation updated signal.

◆ onShapeUpdated

common::SlotRegister<ShapeUpdatedSignal> dart::dynamics::ShapeFrame::onShapeUpdated

Slot register for shape updated signal.

◆ onTransformUpdated

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

Slot register for transform updated signal.

◆ onVelocityChanged

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

Slot register for velocity updated signal.