The Node class is a base class for BodyNode and any object that attaches to a BodyNode. More...

#include <Node.hpp>

Inheritance diagram for dart::dynamics::Node:

Classes
class	Properties
	If your Node has a Properties class, then that Properties class should inherit this Node::Properties class. More...

class	State
	If your Node has a State class, then that State class should inherit this Node::State class. More...

Public Types
template<class Mixin >
using	MakeState = common::MakeCloneable< State, Mixin >
	Use the MakeState class to easily create a State extension from an existing class or struct. More...

template<class Mixin >
using	MakeProperties = common::MakeCloneable< Properties, Mixin >
	Use the MakeProperties class to easily create a Properties extension from an existing class or struct. More...

Public Member Functions
virtual	~Node ()=default
	Virtual destructor. More...

virtual const std::string &	setName (const std::string &newName)=0
	Set the name of this Node. More...

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

virtual void	setNodeState (const State &otherState)
	Set the State of this Node. By default, this does nothing. More...

virtual std::unique_ptr< State >	getNodeState () const
	Get the State of this Node. More...

virtual void	copyNodeStateTo (std::unique_ptr< State > &outputState) const
	Copy the State of this Node into a unique_ptr. More...

virtual void	setNodeProperties (const Properties &properties)
	Set the Properties of this Node. By default, this does nothing. More...

virtual std::unique_ptr< Properties >	getNodeProperties () const
	Get the Properties of this Node. More...

virtual void	copyNodePropertiesTo (std::unique_ptr< Properties > &outputProperties) const
	Copy the Properties of this Node into a unique_ptr. More...

BodyNodePtr	getBodyNodePtr ()
	Get a pointer to the BodyNode that this Node is associated with. More...

ConstBodyNodePtr	getBodyNodePtr () const
	Get a pointer to the BodyNode that this Node is associated with. More...

bool	isRemoved () const
	Returns true if this Node has been staged for removal from its BodyNode. More...

virtual std::shared_ptr< Skeleton >	getSkeleton ()
	Return the Skeleton that this Node is attached to. More...

virtual std::shared_ptr< const Skeleton >	getSkeleton () const
	Return the Skeleton that this Node is attached to. 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...

Protected Member Functions
virtual Node *	cloneNode (BodyNode *bn) const =0
	Allow your Node implementation to be cloned into a new BodyNode. More...

	Node (BodyNode *_bn)
	Constructor. More...

std::string	registerNameChange (const std::string &newName)
	Inform the Skeleton that the name of this Node has changed. More...

void	attach ()
	Attach the Node to its BodyNode. More...

void	stageForRemoval ()
	When all external references to the Node disappear, it will be deleted. 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)

Protected Attributes
std::weak_ptr< NodeDestructor >	mDestructor
	weak pointer to the destructor for this Node. More...

BodyNode *	mBodyNode
	Pointer to the BodyNode that this Node is attached to. More...

bool	mAmAttached
	bool that tracks whether this Node is attached to its BodyNode More...

std::size_t	mIndexInBodyNode
	The index of this Node within its vector in its BodyNode's NodeMap. More...

std::size_t	mIndexInSkeleton
	The index of this Node within its vector in its Skeleton's NodeMap. More...

std::size_t	mIndexInTree
	Index of this Node within its tree. More...

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

std::size_t	mVersion

Private Member Functions
std::shared_ptr< NodeDestructor >	getOrCreateDestructor ()

Private Attributes
VersionCounter *	mDependent

Friends
class	BodyNode

class	Skeleton

template<class >
class	AccessoryNode

template<class , class >
class	TemplateNodePtr

template<class , class >
class	TemplateWeakNodePtr

Detailed Description

The Node class is a base class for BodyNode and any object that attaches to a BodyNode.

This base class handles ownership and reference counting for the classes that inherit it.

In most cases, when creating your own custom Node class, you will also want to inherit from AccessoryNode using CRTP.

Member Typedef Documentation

◆ MakeProperties

template<class Mixin >

using dart::dynamics::Node::MakeProperties = common::MakeCloneable<Properties, Mixin>

Use the MakeProperties class to easily create a Properties extension from an existing class or struct.

◆ MakeState

template<class Mixin >

using dart::dynamics::Node::MakeState = common::MakeCloneable<State, Mixin>

Use the MakeState class to easily create a State extension from an existing class or struct.

Constructor & Destructor Documentation

◆ ~Node()

virtual dart::dynamics::Node::~Node ( )

virtualdefault

Virtual destructor.

◆ Node()

dart::dynamics::Node::Node ( BodyNode * _bn )

protected

Constructor.

Member Function Documentation

◆ addObserver()

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

protectedinherited

Add an Observer to the list of Observers.

◆ attach()

void dart::dynamics::Node::attach ( )

protected

Attach the Node to its BodyNode.

◆ cloneNode()

virtual Node* dart::dynamics::Node::cloneNode ( BodyNode * bn ) const

protectedpure virtual

Allow your Node implementation to be cloned into a new BodyNode.

Implemented in dart::dynamics::BodyNode.

◆ copyNodePropertiesTo()

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

virtual

Copy the Properties of this Node into a unique_ptr.

By default, this simply calls getNodeProperties() and passes the result into the outputProperties, but this function can be overriden to be more performant.

◆ copyNodeStateTo()

void dart::dynamics::Node::copyNodeStateTo ( std::unique_ptr< State > & outputState ) const

virtual

Copy the State of this Node into a unique_ptr.

By default, this simply calls getNodeState() and passes the result into the outputState, but this function can be overriden to be more performant by avoiding allocations.

◆ getBodyNodePtr() [1/2]

BodyNodePtr dart::dynamics::Node::getBodyNodePtr ( )

Get a pointer to the BodyNode that this Node is associated with.

◆ getBodyNodePtr() [2/2]

ConstBodyNodePtr dart::dynamics::Node::getBodyNodePtr ( ) const

Get a pointer to the BodyNode that this Node is associated with.

◆ getName()

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

pure virtual

Get the name of this Node.

Implemented in dart::dynamics::BodyNode.

◆ getNodeProperties()

std::unique_ptr< Node::Properties > dart::dynamics::Node::getNodeProperties ( ) const

virtual

Get the Properties of this Node.

By default, this returns a nullptr which implies that the Node has no properties.

◆ getNodeState()

std::unique_ptr< Node::State > dart::dynamics::Node::getNodeState ( ) const

virtual

Get the State of this Node.

By default, this returns a nullptr which implies that the Node is stateless.

◆ getOrCreateDestructor()

std::shared_ptr< NodeDestructor > dart::dynamics::Node::getOrCreateDestructor ( )

private

◆ getSkeleton() [1/2]

std::shared_ptr< Skeleton > dart::dynamics::Node::getSkeleton ( )

virtual

Return the Skeleton that this Node is attached to.

Reimplemented in dart::dynamics::BodyNode.

◆ getSkeleton() [2/2]

std::shared_ptr< const Skeleton > dart::dynamics::Node::getSkeleton ( ) const

virtual

Return the Skeleton that this Node is attached to.

Reimplemented in dart::dynamics::BodyNode.

◆ getVersion()

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

virtualinherited

Get the version number of this object.

◆ incrementVersion()

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

virtualinherited

Increment the version for this object.

Reimplemented in dart::dynamics::Shape.

◆ isRemoved()

bool dart::dynamics::Node::isRemoved ( ) const

Returns true if this Node has been staged for removal from its BodyNode.

It will be deleted once all strong references to it expire. If it is an AccessoryNode, you can call reattach() to prevent that from happening.

◆ registerNameChange()

std::string dart::dynamics::Node::registerNameChange ( const std::string & newName )

protected

Inform the Skeleton that the name of this Node has changed.

If the name is already taken by another Node of the same type, then this function will return a modified version which is unique. If the name is not already taken, then it will just return the same name that the function was given.

◆ removeObserver()

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

protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

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

protectedinherited

Send a destruction notification to all Observers.

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

◆ setName()

virtual const std::string& dart::dynamics::Node::setName ( const std::string & newName )

pure virtual

Set the name of this Node.

Implemented in dart::dynamics::BodyNode.

◆ setNodeProperties()

void dart::dynamics::Node::setNodeProperties ( const Properties & properties )

virtual

Set the Properties of this Node. By default, this does nothing.

◆ setNodeState()

void dart::dynamics::Node::setNodeState ( const State & otherState )

virtual

Set the State of this Node. By default, this does nothing.

◆ setVersionDependentObject()

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

protectedinherited

◆ stageForRemoval()

void dart::dynamics::Node::stageForRemoval ( )

protected

When all external references to the Node disappear, it will be deleted.

Friends And Related Function Documentation

◆ AccessoryNode

template<class >

friend class AccessoryNode

friend

◆ BodyNode

friend class BodyNode

friend

◆ Skeleton

friend class Skeleton

friend

◆ TemplateNodePtr

template<class , class >

friend class TemplateNodePtr

friend

◆ TemplateWeakNodePtr

template<class , class >

friend class TemplateWeakNodePtr

friend

Member Data Documentation

◆ mAmAttached

bool dart::dynamics::Node::mAmAttached

protected

bool that tracks whether this Node is attached to its BodyNode

◆ mBodyNode

BodyNode* dart::dynamics::Node::mBodyNode

protected

Pointer to the BodyNode that this Node is attached to.

◆ mDependent

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

privateinherited

◆ mDestructor

std::weak_ptr<NodeDestructor> dart::dynamics::Node::mDestructor

protected

weak pointer to the destructor for this Node.

We use a shared_ptr "destructor" class instead of managing Nodes directly with shared_ptrs because this scheme allows BodyNodes to circumvent the shared_ptr management by setting the mNode member of the Destructor to a nullptr. That way the BodyNode can never be deleted by its Destructor.

◆ mIndexInBodyNode

std::size_t dart::dynamics::Node::mIndexInBodyNode

protected

The index of this Node within its vector in its BodyNode's NodeMap.

◆ mIndexInSkeleton

std::size_t dart::dynamics::Node::mIndexInSkeleton

protected

The index of this Node within its vector in its Skeleton's NodeMap.

◆ mIndexInTree

std::size_t dart::dynamics::Node::mIndexInTree

protected

Index of this Node within its tree.

◆ mObservers

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

mutableprotectedinherited

List of current Observers.

◆ mVersion

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

protectedinherited

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MakeProperties

◆ MakeState

Constructor & Destructor Documentation

◆ ~Node()

◆ Node()

Member Function Documentation

◆ addObserver()

◆ attach()

◆ cloneNode()

◆ copyNodePropertiesTo()

◆ copyNodeStateTo()

◆ getBodyNodePtr() [1/2]

◆ getBodyNodePtr() [2/2]

◆ getName()

◆ getNodeProperties()

◆ getNodeState()

◆ getOrCreateDestructor()

◆ getSkeleton() [1/2]

◆ getSkeleton() [2/2]

◆ getVersion()

◆ incrementVersion()

◆ isRemoved()

◆ registerNameChange()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setName()

◆ setNodeProperties()

◆ setNodeState()

◆ setVersionDependentObject()

◆ stageForRemoval()

Friends And Related Function Documentation

◆ AccessoryNode

◆ BodyNode

◆ Skeleton

◆ TemplateNodePtr

◆ TemplateWeakNodePtr

Member Data Documentation

◆ mAmAttached

◆ mBodyNode

◆ mDependent

◆ mDestructor

◆ mIndexInBodyNode

◆ mIndexInSkeleton

◆ mIndexInTree

◆ mObservers

◆ mVersion