The SimpleFrame class offers a user-friendly way of creating arbitrary Frames within the kinematic tree structure of DART. More...

#include <SimpleFrame.hpp>

Inheritance diagram for dart::dynamics::SimpleFrame:

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)>

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... >

Public Member Functions
	SimpleFrame (Frame *_refFrame=Frame::World(), const std::string &_name="simple_frame", const Eigen::Isometry3d &_relativeTransform=Eigen::Isometry3d::Identity())
	Constructor. More...

	SimpleFrame (const SimpleFrame &_otherFrame, Frame *_refFrame=Frame::World())
	Copy constructor. More...

	~SimpleFrame () override
	Destructor. More...

const std::string &	setName (const std::string &_name) override
	Set name. More...

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

std::shared_ptr< SimpleFrame >	clone (Frame *_refFrame=Frame::World()) const
	Create a new SimpleFrame with the same world transform, velocity, and acceleration as this one. More...

void	copy (const Frame &_otherFrame, Frame *_refFrame=Frame::World(), bool _copyProperties=true)
	Make the world transform, world velocity, and world acceleration of this SimpleFrame match another Frame. More...

void	copy (const Frame _otherFrame, Frame _refFrame=Frame::World(), bool _copyProperties=true)
	Same as copy(const Frame&) More...

SimpleFrame &	operator= (const SimpleFrame &_otherFrame)
	Same as copy(const Frame&) except the parent frame of this SimpleFrame is left the same, and _copyProperties is set to false. More...

std::shared_ptr< SimpleFrame >	spawnChildSimpleFrame (const std::string &name="SimpleFrame", const Eigen::Isometry3d &relativeTransform=Eigen::Isometry3d::Identity())
	Spawn a child SimpleFrame to this SimpleFrame. More...

void	setRelativeTransform (const Eigen::Isometry3d &_newRelTransform)
	Set the relative transform of this SimpleFrame. More...

void	setRelativeTranslation (const Eigen::Vector3d &_newTranslation)
	Set the relative translation of this SimpleFrame. More...

void	setRelativeRotation (const Eigen::Matrix3d &_newRotation)
	Set the relative rotation of this SimpleFrame. More...

void	setTransform (const Eigen::Isometry3d &_newTransform, const Frame *_withRespectTo=Frame::World())
	Set the transform of this SimpleFrame so that its transform with respect to Frame _withRespectTo is equal to _newTransform. More...

void	setTranslation (const Eigen::Vector3d &_newTranslation, const Frame *_withRespectTo=Frame::World())
	Set the translation of this SimpleFrame so that its translation with respect to Frame _withRespectTo is equal to _newTranslation. More...

void	setRotation (const Eigen::Matrix3d &_newRotation, const Frame *_withRespectTo=Frame::World())
	Set the rotation of this SimpleFrame so that its rotation with respect to Frame _withRespectTo is equal to _newRotation. More...

const Eigen::Isometry3d &	getRelativeTransform () const override
	Get the transform of this Frame with respect to its parent Frame. More...

void	setRelativeSpatialVelocity (const Eigen::Vector6d &_newSpatialVelocity)
	Set the spatial velocity of this SimpleFrame relative to its parent Frame. More...

void	setRelativeSpatialVelocity (const Eigen::Vector6d &_newSpatialVelocity, const Frame *_inCoordinatesOf)
	Set the spatial velocity of this SimpleFrame relative to its parent Frame. More...

const Eigen::Vector6d &	getRelativeSpatialVelocity () const override
	Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &_newSpatialAcceleration)
	Set the spatial acceleration of this SimpleFrame relative to its parent Frame. More...

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &_newSpatialAcceleration, const Frame *_inCoordinatesOf)
	Set the spatial acceleration of this SimpleFrame relative to its parent Frame. More...

const Eigen::Vector6d &	getRelativeSpatialAcceleration () const override
	Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...

const Eigen::Vector6d &	getPrimaryRelativeAcceleration () const override
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...

const Eigen::Vector6d &	getPartialAcceleration () const override
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More...

void	setClassicDerivatives (const Eigen::Vector3d &_linearVelocity=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_angularVelocity=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_linearAcceleration=Eigen::Vector3d::Zero(), const Eigen::Vector3d &_angularAcceleration=Eigen::Vector3d::Zero())
	Set the relative velocity and acceleration of this Frame according to classical (non-spatial) relative velocity and relative acceleration vectors. More...

virtual void	setParentFrame (Frame *_newParentFrame)
	Allows the user to change the parent Frame 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...

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 AspectProperties &	getAspectProperties () const

const AspectProperties &	getAspectProperties () 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...

VisualAspect *	getVisualAspect ()
	Get a(an) VisualAspect from this Composite. More...

const VisualAspect *	getVisualAspect () const
	Get a(an) VisualAspect from this Composite. More...

VisualAspect *	getVisualAspect (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>
VisualAspect *	createVisualAspect (Args &&... args)
	Construct a(an) VisualAspect inside of this Composite. More...

void	removeVisualAspect ()
	Remove a(an) VisualAspect from this Composite. More...

std::unique_ptr< VisualAspect >	releaseVisualAspect ()
	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...

CollisionAspect *	getCollisionAspect ()
	Get a(an) CollisionAspect from this Composite. More...

const CollisionAspect *	getCollisionAspect () const
	Get a(an) CollisionAspect from this Composite. More...

CollisionAspect *	getCollisionAspect (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>
CollisionAspect *	createCollisionAspect (Args &&... args)
	Construct a(an) CollisionAspect inside of this Composite. More...

void	removeCollisionAspect ()
	Remove a(an) CollisionAspect from this Composite. More...

std::unique_ptr< CollisionAspect >	releaseCollisionAspect ()
	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...

DynamicsAspect *	getDynamicsAspect ()
	Get a(an) DynamicsAspect from this Composite. More...

const DynamicsAspect *	getDynamicsAspect () const
	Get a(an) DynamicsAspect from this Composite. More...

DynamicsAspect *	getDynamicsAspect (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>
DynamicsAspect *	createDynamicsAspect (Args &&... args)
	Construct a(an) DynamicsAspect inside of this Composite. More...

void	removeDynamicsAspect ()
	Remove a(an) DynamicsAspect from this Composite. More...

std::unique_ptr< DynamicsAspect >	releaseDynamicsAspect ()
	Remove a(an) DynamicsAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...

ShapeFrame *	asShapeFrame () override
	Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...

const ShapeFrame *	asShapeFrame () 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 ShapeNode *	asShapeNode ()
	Convert 'this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr. More...

virtual const ShapeNode *	asShapeNode () 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 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...

const Eigen::Vector6d &	getSpatialVelocity () 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...

const Eigen::Vector6d &	getSpatialAcceleration () 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...

Static Public Member Functions
template<typename... Args>
static std::shared_ptr< SimpleFrame >	createShared (Args &&... args)

static Frame *	World ()

static std::shared_ptr< Frame >	WorldShared ()

Public Attributes
common::SlotRegister< ShapeUpdatedSignal >	onShapeUpdated
	Slot register for shape updated signal. More...

common::SlotRegister< RelativeTransformUpdatedSignal >	onRelativeTransformUpdated
	Slot register for relative transformation updated signal. 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...

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

Protected Member Functions
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...

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...

Protected Attributes
std::string	mName
	Name of this SimpleFrame. More...

Eigen::Isometry3d	mRelativeTf
	Relative transform of the SimpleFrame. More...

Eigen::Vector6d	mRelativeVelocity
	Relative spatial velocity of the SimpleFrame. More...

Eigen::Vector6d	mRelativeAcceleration
	Relative spatial acceleration of the SimpleFrame. More...

Eigen::Vector6d	mPartialAcceleration
	Partial Acceleration of this Frame. More...

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...

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...

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

Private Attributes
VersionCounter *	mDependent

const bool	mAmWorld
	Contains whether or not this is the World Frame. More...

bool	mAmShapeFrame
	Contains whether or not this is a ShapeFrame. More...

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

The SimpleFrame class offers a user-friendly way of creating arbitrary Frames within the kinematic tree structure of DART.

The user is free to specify the relative transform, relative velocity, and relative acceleration of this Frame.

While many classes (such as BodyNode and EndEffector) inherit the Frame class, they all have restrictions (constraints) on how their properties (such as position, velocity, and acceleration) can be modified. Conversely, the SimpleFrame class is nothing but a simple abstract Frame whose properties can be arbitrarily set and modified by the user.

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

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

inherited

◆ 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

using dart::dynamics::ShapeFrame::Properties = UniqueProperties

inherited

◆ RelativeTransformUpdatedSignal

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

inherited

◆ ShapeUpdatedSignal

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

inherited

◆ UniqueProperties

using dart::dynamics::ShapeFrame::UniqueProperties = AspectProperties

inherited

Member Enumeration Documentation

◆ ConstructAbstractTag [1/2]

enum dart::dynamics::Entity::ConstructAbstractTag

protectedinherited

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

Enumerator
ConstructAbstract

◆ ConstructAbstractTag [2/2]

enum dart::dynamics::Frame::ConstructAbstractTag

protectedinherited

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

Enumerator
ConstructAbstract

◆ ConstructFrameTag

enum dart::dynamics::Entity::ConstructFrameTag

protectedinherited

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

enum dart::dynamics::Frame::ConstructWorldTag

privateinherited

Used when constructing the World.

Enumerator
ConstructWorld

Constructor & Destructor Documentation

◆ SimpleFrame() [1/2]

dart::dynamics::SimpleFrame::SimpleFrame	(	Frame *	_refFrame = `Frame::World()`,
		const std::string &	_name = `"simple_frame"`,
		const Eigen::Isometry3d &	_relativeTransform = `Eigen::Isometry3d::Identity()`
	)

explicit

Constructor.

◆ SimpleFrame() [2/2]

dart::dynamics::SimpleFrame::SimpleFrame	(	const SimpleFrame &	_otherFrame,
		Frame *	_refFrame = `Frame::World()`
	)

Copy constructor.

Note that the parent frame of _otherFrame will not be copied as the reference frame for the newly created SimpleFrame.

◆ ~SimpleFrame()

dart::dynamics::SimpleFrame::~SimpleFrame ( )

override

Destructor.

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

overridevirtualinherited

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 ( )

overridevirtualinherited

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 ( )

virtualinherited

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

◆ asShapeNode() [2/2]

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

virtualinherited

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() [1/2]

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

protectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented in dart::dynamics::Frame.

◆ changeParentFrame() [2/2]

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

overrideprotectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented from dart::dynamics::Entity.

◆ clone()

SimpleFramePtr dart::dynamics::SimpleFrame::clone ( Frame * _refFrame = Frame::World() ) const

Create a new SimpleFrame with the same world transform, velocity, and acceleration as this one.

_refFrame will be used as the reference Frame of the new SimpleFrame.

◆ copy() [1/2]

void dart::dynamics::SimpleFrame::copy	(	const Frame &	_otherFrame,
		Frame *	_refFrame = `Frame::World()`,
		bool	_copyProperties = `true`
	)

Make the world transform, world velocity, and world acceleration of this SimpleFrame match another Frame.

The _refFrame argument will be the new parent Frame of this SimpleFrame. Also copies the Entity Properties if _copyProperties is left as true.

◆ copy() [2/2]

void dart::dynamics::SimpleFrame::copy	(	const Frame *	_otherFrame,
		Frame *	_refFrame = `Frame::World()`,
		bool	_copyProperties = `true`
	)

Same as copy(const Frame&)

◆ createCollisionAspect()

template<typename... Args>

CollisionAspect* dart::dynamics::ShapeFrame::createCollisionAspect ( Args &&... args )

inlineinherited

Construct a(an) CollisionAspect inside of this Composite.

◆ createDynamicsAspect()

template<typename... Args>

DynamicsAspect* dart::dynamics::ShapeFrame::createDynamicsAspect ( Args &&... args )

inlineinherited

Construct a(an) DynamicsAspect inside of this Composite.

◆ createShared()

template<typename... Args>

static std::shared_ptr< SimpleFrame > dart::dynamics::SimpleFrame::createShared ( Args &&... args )

inlinestatic

Create shared instance of this class

◆ createVisualAspect()

template<typename... Args>

VisualAspect* dart::dynamics::ShapeFrame::createVisualAspect ( Args &&... args )

inlineinherited

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() [1/2]

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

virtualinherited

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.

◆ dirtyAcceleration() [2/2]

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() [1/2]

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

virtualinherited

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.

◆ dirtyTransform() [2/2]

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() [1/2]

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

virtualinherited

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.

◆ dirtyVelocity() [2/2]

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

inherited

◆ 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 ( )

inlineinherited

Get a(an) CollisionAspect from this Composite.

◆ getCollisionAspect() [2/3]

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

inlineinherited

Get a(an) CollisionAspect from this Composite.

◆ getCollisionAspect() [3/3]

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

inlineinherited

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 ( )

inlineinherited

Get a(an) DynamicsAspect from this Composite.

◆ getDynamicsAspect() [2/3]

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

inlineinherited

Get a(an) DynamicsAspect from this Composite.

◆ getDynamicsAspect() [3/3]

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

inlineinherited

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()

const std::string & dart::dynamics::SimpleFrame::getName ( ) const

overridevirtual

Return the name of this Entity.

Implements dart::dynamics::Entity.

◆ 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()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getPartialAcceleration ( ) const

overridevirtual

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.

Implements dart::dynamics::Frame.

◆ getPrimaryRelativeAcceleration()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getPrimaryRelativeAcceleration ( ) const

overridevirtual

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().

Implements dart::dynamics::Frame.

◆ getRelativeSpatialAcceleration()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getRelativeSpatialAcceleration ( ) const

overridevirtual

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

Implements dart::dynamics::Frame.

◆ getRelativeSpatialVelocity()

const Eigen::Vector6d & dart::dynamics::SimpleFrame::getRelativeSpatialVelocity ( ) const

overridevirtual

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

Implements dart::dynamics::Frame.

◆ getRelativeTransform()

const Eigen::Isometry3d & dart::dynamics::SimpleFrame::getRelativeTransform ( ) const

overridevirtual

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

Implements dart::dynamics::Frame.

◆ getShape() [1/2]

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

inherited

Return shape.

◆ getShape() [2/2]

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

inherited

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 ( )

inlineinherited

Get a(an) VisualAspect from this Composite.

◆ getVisualAspect() [2/3]

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

inlineinherited

Get a(an) VisualAspect from this Composite.

◆ getVisualAspect() [3/3]

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

inlineinherited

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

inlineinherited

Check if this Composite currently has CollisionAspect .

◆ hasDynamicsAspect()

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

inlineinherited

Check if this Composite currently has DynamicsAspect .

◆ hasVisualAspect()

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

inlineinherited

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

inherited

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.

◆ operator=()

SimpleFrame & dart::dynamics::SimpleFrame::operator= ( const SimpleFrame & _otherFrame )

Same as copy(const Frame&) except the parent frame of this SimpleFrame is left the same, and _copyProperties is set to false.

◆ 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 ( )

inlineinherited

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 ( )

inlineinherited

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 ( )

inlineinherited

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 ( )

inlineinherited

Remove a(an) CollisionAspect from this Composite.

◆ removeDynamicsAspect()

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

inlineinherited

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 ( )

inlineinherited

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 )

inherited

Set the AspectProperties of this ShapeFrame.

◆ setClassicDerivatives()

void dart::dynamics::SimpleFrame::setClassicDerivatives	(	const Eigen::Vector3d &	_linearVelocity = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_angularVelocity = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_linearAcceleration = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	_angularAcceleration = `Eigen::Vector3d::Zero()`
	)

Set the relative velocity and acceleration of this Frame according to classical (non-spatial) relative velocity and relative acceleration vectors.

These values must be given with respect to this Frame's parent (note: this is unlike setRelativeSpatialVelocity and setRelativeSpatialAcceleration which expect values in the Frame's own coordinates).

This method is slightly less computationally efficient than using setRelativeSpatialVelocity and setRelativeSpatialAcceleration, but offers the most intuitive way of setting relative velocities and relative accelerations.

These values are equivalent to the terms in the Newton-Euler

◆ setCollisionAspect() [1/2]

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

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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()

const std::string & dart::dynamics::SimpleFrame::setName ( const std::string & _name )

overridevirtual

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.

Implements dart::dynamics::Entity.

◆ setParentFrame()

void dart::dynamics::Detachable::setParentFrame ( Frame * _newParentFrame )

virtualinherited

Allows the user to change the parent Frame of this Entity.

◆ setProperties()

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

inherited

Set the UniqueProperties of this ShapeFrame.

◆ setRelativeRotation()

void dart::dynamics::SimpleFrame::setRelativeRotation ( const Eigen::Matrix3d & _newRotation )

Set the relative rotation of this SimpleFrame.

◆ setRelativeSpatialAcceleration() [1/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialAcceleration ( const Eigen::Vector6d & _newSpatialAcceleration )

Set the spatial acceleration of this SimpleFrame relative to its parent Frame.

Must be in the coordinates of THIS Frame.

This is the most computationally efficient way of setting relative acceleration.

◆ setRelativeSpatialAcceleration() [2/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialAcceleration	(	const Eigen::Vector6d &	_newSpatialAcceleration,
		const Frame *	_inCoordinatesOf
	)

Set the spatial acceleration of this SimpleFrame relative to its parent Frame.

Specify the coordinate Frame of _newSpatialAcceleration.

◆ setRelativeSpatialVelocity() [1/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialVelocity ( const Eigen::Vector6d & _newSpatialVelocity )

Set the spatial velocity of this SimpleFrame relative to its parent Frame.

Must be in the coordinates of THIS Frame.

This is the most computationally efficient way of setting relative velocity.

Use setClassicDerivatives to set the velocity according to classic relative linear and angular velocity values.

◆ setRelativeSpatialVelocity() [2/2]

void dart::dynamics::SimpleFrame::setRelativeSpatialVelocity	(	const Eigen::Vector6d &	_newSpatialVelocity,
		const Frame *	_inCoordinatesOf
	)

Set the spatial velocity of this SimpleFrame relative to its parent Frame.

Specify the coordinate Frame of _newSpatialVelocity.

Use setClassicDerivatives to set the velocity according to classic relative linear and angular velocity values.

◆ setRelativeTransform()

void dart::dynamics::SimpleFrame::setRelativeTransform ( const Eigen::Isometry3d & _newRelTransform )

Set the relative transform of this SimpleFrame.

◆ setRelativeTranslation()

void dart::dynamics::SimpleFrame::setRelativeTranslation ( const Eigen::Vector3d & _newTranslation )

Set the relative translation of this SimpleFrame.

◆ setRotation()

void dart::dynamics::SimpleFrame::setRotation	(	const Eigen::Matrix3d &	_newRotation,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the rotation of this SimpleFrame so that its rotation with respect to Frame _withRespectTo is equal to _newRotation.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ setShape()

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

inherited

Set shape.

◆ setTransform()

void dart::dynamics::SimpleFrame::setTransform	(	const Eigen::Isometry3d &	_newTransform,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the transform of this SimpleFrame so that its transform with respect to Frame _withRespectTo is equal to _newTransform.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ setTranslation()

void dart::dynamics::SimpleFrame::setTranslation	(	const Eigen::Vector3d &	_newTranslation,
		const Frame *	_withRespectTo = `Frame::World()`
	)

Set the translation of this SimpleFrame so that its translation with respect to Frame _withRespectTo is equal to _newTranslation.

Note that the parent Frame of this SimpleFrame will not be changed.

◆ setVersionDependentObject()

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

protectedinherited

◆ setVisualAspect() [1/2]

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

inlineinherited

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 )

inlineinherited

Use move semantics to place VisualAspect into this Composite.

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

◆ spawnChildSimpleFrame()

std::shared_ptr< SimpleFrame > dart::dynamics::SimpleFrame::spawnChildSimpleFrame	(	const std::string &	name = `"SimpleFrame"`,
		const Eigen::Isometry3d &	relativeTransform = `Eigen::Isometry3d::Identity()`
	)

Spawn a child SimpleFrame to this SimpleFrame.

SimpleFrame doesn't have the ownership of the created child SimpleFrame. This means that you are responsible for holding onto the returned SimpleFrame. If you neglect to store it, it will automatically be destroyed.

◆ World()

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

staticinherited

◆ WorldShared()

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

staticinherited

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

protectedinherited

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

protectedinherited

Connect to changes in the Shape version.

◆ mDependent

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

privateinherited

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal

protectedinherited

Frame changed signal.

◆ mName

std::string dart::dynamics::SimpleFrame::mName

protected

Name of this SimpleFrame.

◆ 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.

◆ mPartialAcceleration

Eigen::Vector6d dart::dynamics::SimpleFrame::mPartialAcceleration

mutableprotected

Partial Acceleration of this Frame.

◆ mRelativeAcceleration

Eigen::Vector6d dart::dynamics::SimpleFrame::mRelativeAcceleration

protected

Relative spatial acceleration of the SimpleFrame.

◆ mRelativeTf

Eigen::Isometry3d dart::dynamics::SimpleFrame::mRelativeTf

protected

Relative transform of the SimpleFrame.

◆ mRelativeTransformUpdatedSignal

RelativeTransformUpdatedSignal dart::dynamics::ShapeFrame::mRelativeTransformUpdatedSignal

protectedinherited

Relative transformation updated signal.

◆ mRelativeVelocity

Eigen::Vector6d dart::dynamics::SimpleFrame::mRelativeVelocity

protected

Relative spatial velocity of the SimpleFrame.

◆ mShapeUpdatedSignal

ShapeUpdatedSignal dart::dynamics::ShapeFrame::mShapeUpdatedSignal

protectedinherited

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

inherited

Slot register for relative transformation updated signal.

◆ onShapeUpdated

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

inherited

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.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Slot registers

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ Derived

◆ EntitySignal

◆ FrameChangedSignal

◆ Impl

◆ NameChangedSignal

◆ Properties

◆ RelativeTransformUpdatedSignal

◆ ShapeUpdatedSignal

◆ UniqueProperties

Member Enumeration Documentation

◆ ConstructAbstractTag [1/2]

◆ ConstructAbstractTag [2/2]

◆ ConstructFrameTag

◆ ConstructWorldTag

Constructor & Destructor Documentation

◆ SimpleFrame() [1/2]

◆ SimpleFrame() [2/2]

◆ ~SimpleFrame()

Member Function Documentation

◆ addObserver()

◆ asShapeFrame() [1/2]

◆ asShapeFrame() [2/2]

◆ asShapeNode() [1/2]

◆ asShapeNode() [2/2]

◆ changeParentFrame() [1/2]

◆ changeParentFrame() [2/2]

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createCollisionAspect()

◆ createDynamicsAspect()

◆ createShared()

◆ createVisualAspect()

◆ descendsFrom()

◆ dirtyAcceleration() [1/2]

◆ dirtyAcceleration() [2/2]

◆ dirtyTransform() [1/2]

◆ dirtyTransform() [2/2]

◆ dirtyVelocity() [1/2]

◆ dirtyVelocity() [2/2]

◆ getAngularAcceleration()

◆ getAngularVelocity()

◆ getAspectProperties() [1/2]

◆ getAspectProperties() [2/2]

◆ getChildEntities() [1/2]

◆ getChildEntities() [2/2]

◆ getChildFrames() [1/2]

◆ getChildFrames() [2/2]

◆ getCollisionAspect() [1/3]

◆ getCollisionAspect() [2/3]

◆ getCollisionAspect() [3/3]

◆ getDynamicsAspect() [1/3]

◆ getDynamicsAspect() [2/3]

◆ getDynamicsAspect() [3/3]

◆ getLinearAcceleration() [1/2]

◆ getLinearAcceleration() [2/2]

◆ getLinearVelocity() [1/2]

◆ getLinearVelocity() [2/2]

◆ getName()

◆ getNumChildEntities()

◆ getNumChildFrames()

◆ getParentFrame() [1/2]

◆ getParentFrame() [2/2]

◆ getPartialAcceleration()