DART 6.12.2
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Public Types | Public Member Functions | Protected Member Functions | Friends | List of all members
dart::dynamics::ShapeNode Class Reference

#include <ShapeNode.hpp>

Inheritance diagram for dart::dynamics::ShapeNode:
dart::dynamics::CompositeNode< Base > dart::dynamics::CompositePropertiesNode< CompositeStateNode< Base > > dart::dynamics::CompositeStateNode< Base >

Public Types

using ShapeUpdatedSignal = common::Signal< void(const ShapeNode *thisShapeNode, const ShapePtr &oldShape, const ShapePtr &newShape)>
 
using RelativeTransformUpdatedSignal = common::Signal< void(const ShapeNode *thisShapeNode, const Eigen::Isometry3d &oldTransform, const Eigen::Isometry3d &newTransform)>
 
using BasicProperties = common::Composite::MakeProperties< NameAspect, FixedFrame, ShapeFrame >
 
using Properties = common::Composite::Properties
 
using State = Node::MakeState< common::Composite::State >
 

Public Member Functions

virtual ~ShapeNode ()=default
 Destructor.
 
void setProperties (const Properties &properties)
 Set the Properties of this ShapeNode.
 
const Properties getShapeNodeProperties () const
 Get the Properties of this ShapeNode.
 
void copy (const ShapeNode &other)
 Copy the properties of another ShapeNode.
 
void copy (const ShapeNode *other)
 Copy the properties of another ShapeNode.
 
ShapeNode & operator= (const ShapeNode &other)
 Same as copy(const ShapeNode&)
 
void setRelativeTransform (const Eigen::Isometry3d &transform) override
 Set transformation of this shape node relative to the parent frame.
 
void setRelativeRotation (const Eigen::Matrix3d &rotation)
 Set rotation of this shape node relative to the parent frame.
 
Eigen::Matrix3d getRelativeRotation () const
 Get rotation of this shape node relative to the parent frame.
 
void setRelativeTranslation (const Eigen::Vector3d &translation)
 Set translation of this shape node relative to the parent frame.
 
void setOffset (const Eigen::Vector3d &offset)
 Same as setRelativeTranslation(offset)
 
Eigen::Vector3d getRelativeTranslation () const
 Get translation of this shape node relative to the parent frame.
 
Eigen::Vector3d getOffset () const
 Same as getRelativeTranslation()
 
ShapeNode * asShapeNode () override
 
const ShapeNode * asShapeNode () const override
 
void setNodeProperties (const Node::Properties &otherProperties) override final
 
std::unique_ptr< Node::Properties > getNodeProperties () const override final
 
void copyNodePropertiesTo (std::unique_ptr< Node::Properties > &outputProperties) const override final
 
void setNodeState (const Node::State &otherState) override final
 
std::unique_ptr< Node::State > getNodeState () const override final
 
void copyNodeStateTo (std::unique_ptr< Node::State > &outputState) const override final
 

Protected Member Functions

 ShapeNode (BodyNode *bodyNode, const BasicProperties &properties)
 Constructor used by the Skeleton class.
 
 ShapeNode (BodyNode *bodyNode, const ShapePtr &shape, const std::string &name="ShapeNode")
 Constructor used by the Skeleton class.
 
Node * cloneNode (BodyNode *parent) const override
 Create a clone of this ShapeNode.
 

Friends

class BodyNode
 

Member Typedef Documentation

◆ BasicProperties

using dart::dynamics::ShapeNode::BasicProperties = common::Composite::MakeProperties<NameAspect, FixedFrame, ShapeFrame>

◆ Properties

using dart::dynamics::ShapeNode::Properties = common::Composite::Properties

◆ RelativeTransformUpdatedSignal

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

◆ ShapeUpdatedSignal

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

◆ State

template<class Base >
using dart::dynamics::CompositeStateNode< Base >::State = Node::MakeState<common::Composite::State>
inherited

Constructor & Destructor Documentation

◆ ~ShapeNode()

virtual dart::dynamics::ShapeNode::~ShapeNode ( )
virtualdefault

Destructor.

◆ ShapeNode() [1/2]

dart::dynamics::ShapeNode::ShapeNode ( BodyNode *  bodyNode,
const BasicProperties &  properties 
)
protected

Constructor used by the Skeleton class.

◆ ShapeNode() [2/2]

dart::dynamics::ShapeNode::ShapeNode ( BodyNode *  bodyNode,
const ShapePtr &  shape,
const std::string &  name = "ShapeNode" 
)
protected

Constructor used by the Skeleton class.

Member Function Documentation

◆ asShapeNode() [1/2]

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

◆ asShapeNode() [2/2]

ShapeNode * dart::dynamics::ShapeNode::asShapeNode ( )
override

◆ cloneNode()

Node * dart::dynamics::ShapeNode::cloneNode ( BodyNode *  parent) const
overrideprotected

Create a clone of this ShapeNode.

This may only be called by the Skeleton class.

◆ copy() [1/2]

void dart::dynamics::ShapeNode::copy ( const ShapeNode &  other)

Copy the properties of another ShapeNode.

◆ copy() [2/2]

void dart::dynamics::ShapeNode::copy ( const ShapeNode *  other)

Copy the properties of another ShapeNode.

◆ copyNodePropertiesTo()

void dart::dynamics::CompositePropertiesNode< CompositeStateNode< Base > >::copyNodePropertiesTo ( std::unique_ptr< Node::Properties > &  outputProperties) const
finaloverrideinherited

◆ copyNodeStateTo()

template<class Base >
void dart::dynamics::CompositeStateNode< Base >::copyNodeStateTo ( std::unique_ptr< Node::State > &  outputState) const
finaloverrideinherited

◆ getNodeProperties()

std::unique_ptr< Node::Properties > dart::dynamics::CompositePropertiesNode< CompositeStateNode< Base > >::getNodeProperties ( ) const
finaloverrideinherited

◆ getNodeState()

template<class Base >
std::unique_ptr< Node::State > dart::dynamics::CompositeStateNode< Base >::getNodeState ( ) const
finaloverrideinherited

◆ getOffset()

Eigen::Vector3d dart::dynamics::ShapeNode::getOffset ( ) const

Same as getRelativeTranslation()

◆ getRelativeRotation()

Eigen::Matrix3d dart::dynamics::ShapeNode::getRelativeRotation ( ) const

Get rotation of this shape node relative to the parent frame.

◆ getRelativeTranslation()

Eigen::Vector3d dart::dynamics::ShapeNode::getRelativeTranslation ( ) const

Get translation of this shape node relative to the parent frame.

◆ getShapeNodeProperties()

const ShapeNode::Properties dart::dynamics::ShapeNode::getShapeNodeProperties ( ) const

Get the Properties of this ShapeNode.

◆ operator=()

ShapeNode & dart::dynamics::ShapeNode::operator= ( const ShapeNode &  other)

Same as copy(const ShapeNode&)

◆ setNodeProperties()

void dart::dynamics::CompositePropertiesNode< CompositeStateNode< Base > >::setNodeProperties ( const Node::Properties &  otherProperties)
finaloverrideinherited

◆ setNodeState()

template<class Base >
void dart::dynamics::CompositeStateNode< Base >::setNodeState ( const Node::State &  otherState)
finaloverrideinherited

◆ setOffset()

void dart::dynamics::ShapeNode::setOffset ( const Eigen::Vector3d &  offset)

Same as setRelativeTranslation(offset)

◆ setProperties()

void dart::dynamics::ShapeNode::setProperties ( const Properties &  properties)

Set the Properties of this ShapeNode.

◆ setRelativeRotation()

void dart::dynamics::ShapeNode::setRelativeRotation ( const Eigen::Matrix3d &  rotation)

Set rotation of this shape node relative to the parent frame.

◆ setRelativeTransform()

void dart::dynamics::ShapeNode::setRelativeTransform ( const Eigen::Isometry3d &  transform)
override

Set transformation of this shape node relative to the parent frame.

◆ setRelativeTranslation()

void dart::dynamics::ShapeNode::setRelativeTranslation ( const Eigen::Vector3d &  translation)

Set translation of this shape node relative to the parent frame.

Friends And Related Symbol Documentation

◆ BodyNode

friend class BodyNode
friend