open-ppl/MultiBody_8h_source.html

 #ifndef PMPL_MULTI_BODY_H_

 #define PMPL_MULTI_BODY_H_


 #include <memory>

 #include <string>

 #include <vector>


 #include "Geometry/Bodies/Body.h"

 #include "Geometry/Boundaries/Range.h"


 class Boundary;

 class Cfg;

 class Connection;

 class XMLNode;


 #ifdef DEBUG_BULLET_PROBLEMS

 class btMultiBody;

 #endif


 enum class DofType {

   Positional,

   Rotational,

   Joint

 };


 struct DofInfo final {


   DofInfo(std::string&& _n, const DofType _type, const Range<double> _range) :

       name(_n), type(_type), range(_range) {}


   std::string name;

   DofType type;

   Range<double> range;


 };


 class MultiBody {


   public:


 #ifdef DEBUG_BULLET_PROBLEMS

     btMultiBody* m_bullet{nullptr};

 #endif


     enum class Type {

       Active,

       Passive,

       Internal

     };


     MultiBody(const MultiBody::Type _type);


     MultiBody(XMLNode& _node);


     MultiBody(const MultiBody&);

     MultiBody(MultiBody&&);


     ~MultiBody();


     void InitializeDOFs(const Boundary* const _b);


     MultiBody& operator=(const MultiBody&);

     MultiBody& operator=(MultiBody&&);


     MultiBody::Type GetType() const noexcept;


     bool IsActive() const noexcept;


     bool IsPassive() const noexcept;


     bool IsInternal() const noexcept;


     bool IsComposite() const noexcept;


     size_t DOF() const noexcept;


     size_t PosDOF() const noexcept;


     size_t OrientationDOF() const noexcept;


     size_t JointDOF() const noexcept;


     const std::vector<double>& GetCurrentDOFs() const noexcept;


     std::vector<double> GetCurrentCfg() noexcept;


     size_t GetNumBodies() const noexcept;


     const std::vector<Body>& GetBodies() const noexcept;


     std::vector<const Body*> GetEndEffectors() const noexcept;


     Body* GetBody(const size_t _i) noexcept;

     const Body* GetBody(const size_t _i) const noexcept;


     size_t AddBody(Body&& _body);


     Body* GetBase() noexcept;

     const Body* GetBase() const noexcept;


     void SetBaseBody(const size_t _index);


     Body::Type GetBaseType() const noexcept;


     Body::MovementType GetBaseMovementType() const noexcept;


     double GetWeight() const;


     const Vector3d& GetCenterOfMass() const noexcept;


     double GetBoundingSphereRadius() const noexcept;


     const std::vector<std::unique_ptr<Connection>>& GetJoints() const noexcept;


     Connection* GetJoint(const size_t _i) noexcept;


     const DofType& GetDOFType(const size_t _i) const noexcept;


     const std::vector<DofInfo>& GetDofInfo() const noexcept;


     void UpdateJointLimits() noexcept;


     void Configure(const Cfg& _c);


     void Configure(const std::vector<double>& _v);


     void PushToNearestValidConfiguration();


     void Read(std::istream& _is, CountingStreamBuffer& _cbs);


     void Write(std::ostream& _os) const;


   private:


     void SortJoints();


     void UpdateLinks();


     void FindMultiBodyInfo();


     Transformation GenerateBaseTransformation(const std::vector<double>& _v)

         const;


     Type m_multiBodyType{Type::Passive};


     std::vector<Body> m_bodies;


     double m_radius{0};


     size_t m_baseIndex{0};

     Body* m_baseBody{nullptr};

     Body::Type m_baseType;

     Body::MovementType m_baseMovement;


     std::vector<std::unique_ptr<Connection>> m_joints;


     std::vector<DofInfo> m_dofInfo;

     std::vector<double> m_currentDofs;


 };


 #endif

Body.h

DofType
DofType
Types of movement that are supported.
Definition: MultiBody.h:24

DofType::Rotational
@ Rotational
Rotational motion in S = [-1, 1].

DofType::Joint
@ Joint
Rotational motion in R = [min, max].

DofType::Positional
@ Positional
Translational motion R = [min, max].

Range.h

Body
Definition: Body.h:41

Body::Type
Type
The type of part this body represents within its owning multi body.
Definition: Body.h:49

Body::MovementType
MovementType
The type of movement this body can perform.
Definition: Body.h:57

Boundary
Definition: Boundary.h:30

Cfg
Definition: Cfg.h:38

Connection
Definition: Connection.h:35

CountingStreamBuffer
Definition: CountingStreamBuffer.h:20

MultiBody
Definition: MultiBody.h:65

MultiBody::GetNumBodies
size_t GetNumBodies() const noexcept
Get the number of bodies in this multibody.
Definition: MultiBody.cpp:383

MultiBody::AddBody
size_t AddBody(Body &&_body)
Definition: MultiBody.cpp:424

MultiBody::GetWeight
double GetWeight() const
Get the weight of the MultiBody.
Definition: MultiBody.cpp:483

MultiBody::GetCurrentCfg
std::vector< double > GetCurrentCfg() noexcept
Get the current configuration dofs (no velocity), as set by Configure().
Definition: MultiBody.cpp:325

MultiBody::GetBoundingSphereRadius
double GetBoundingSphereRadius() const noexcept
Get the bounding sphere radius.
Definition: MultiBody.cpp:508

MultiBody::IsPassive
bool IsPassive() const noexcept
Is this MultiBody a non-active type?
Definition: MultiBody.cpp:259

MultiBody::GetCenterOfMass
const Vector3d & GetCenterOfMass() const noexcept
Get the center of mass.
Definition: MultiBody.cpp:495

MultiBody::InitializeDOFs
void InitializeDOFs(const Boundary *const _b)
Definition: MultiBody.cpp:127

MultiBody::DOF
size_t DOF() const noexcept
Get the number of DOF for this multibody.
Definition: MultiBody.cpp:280

MultiBody::IsComposite
bool IsComposite() const noexcept
Definition: MultiBody.cpp:273

MultiBody::GetCurrentDOFs
const std::vector< double > & GetCurrentDOFs() const noexcept
Get the current DOFs for this configuration, as set by Configure().
Definition: MultiBody.cpp:318

MultiBody::GetDOFType
const DofType & GetDOFType(const size_t _i) const noexcept
Get the DOF type for a specific degree of freedom.
Definition: MultiBody.cpp:530

MultiBody::GetBody
Body * GetBody(const size_t _i) noexcept
Definition: MultiBody.cpp:410

MultiBody::GetJoints
const std::vector< std::unique_ptr< Connection > > & GetJoints() const noexcept
Get the Connections in this multibody.
Definition: MultiBody.cpp:516

MultiBody::GetBase
Body * GetBase() noexcept
Get the base body.
Definition: MultiBody.cpp:441

MultiBody::IsActive
bool IsActive() const noexcept
Is this MultiBody an active type?
Definition: MultiBody.cpp:252

MultiBody::MultiBody
MultiBody(const MultiBody::Type _type)
Definition: MultiBody.cpp:58

MultiBody::GetDofInfo
const std::vector< DofInfo > & GetDofInfo() const noexcept
Get the DOF info for a specific degree of freedom.
Definition: MultiBody.cpp:537

MultiBody::operator=
MultiBody & operator=(const MultiBody &)
Copy.
Definition: MultiBody.cpp:184

MultiBody::GetBaseMovementType
Body::MovementType GetBaseMovementType() const noexcept
Get the movement type of the base body.
Definition: MultiBody.cpp:477

MultiBody::Type
Type
The types of MultiBody that we can support.
Definition: MultiBody.h:81

MultiBody::Type::Active
@ Active
Movable object.

MultiBody::Type::Internal
@ Internal
Static invisible object.

MultiBody::Type::Passive
@ Passive
Static visible object.

MultiBody::UpdateJointLimits
void UpdateJointLimits() noexcept
Definition: MultiBody.cpp:544

MultiBody::Configure
void Configure(const Cfg &_c)
Definition: MultiBody.cpp:569

MultiBody::GetEndEffectors
std::vector< const Body * > GetEndEffectors() const noexcept
Definition: MultiBody.cpp:397

MultiBody::PushToNearestValidConfiguration
void PushToNearestValidConfiguration()
Definition: MultiBody.cpp:612

MultiBody::OrientationDOF
size_t OrientationDOF() const noexcept
Get the number of orientational DOF for this multibody's base.
Definition: MultiBody.cpp:301

MultiBody::PosDOF
size_t PosDOF() const noexcept
Get the number of positional DOF for this multibody's base.
Definition: MultiBody.cpp:287

MultiBody::JointDOF
size_t JointDOF() const noexcept
Get the number of joint DOF for this multibody.
Definition: MultiBody.cpp:311

MultiBody::Write
void Write(std::ostream &_os) const
Definition: MultiBody.cpp:707

MultiBody::GetBodies
const std::vector< Body > & GetBodies() const noexcept
Get all of the internal bodies.
Definition: MultiBody.cpp:390

MultiBody::Read
void Read(std::istream &_is, CountingStreamBuffer &_cbs)
Definition: MultiBody.cpp:632

MultiBody::GetJoint
Connection * GetJoint(const size_t _i) noexcept
Definition: MultiBody.cpp:523

MultiBody::~MultiBody
~MultiBody()

MultiBody::IsInternal
bool IsInternal() const noexcept
Is this MultiBody an internal type?
Definition: MultiBody.cpp:266

MultiBody::GetType
MultiBody::Type GetType() const noexcept
Get the type for this MultiBody.
Definition: MultiBody.cpp:245

MultiBody::SetBaseBody
void SetBaseBody(const size_t _index)
Definition: MultiBody.cpp:455

MultiBody::GetBaseType
Body::Type GetBaseType() const noexcept
Get the body type of the base body.
Definition: MultiBody.cpp:470

XMLNode
Definition: XMLNode.h:27

DofInfo
Information of DOF values: name, minimum value, and maximum value.
Definition: MultiBody.h:34

DofInfo::DofInfo
DofInfo(std::string &&_n, const DofType _type, const Range< double > _range)
Definition: MultiBody.h:44

DofInfo::name
std::string name
DOF name.
Definition: MultiBody.h:51

DofInfo::type
DofType type
DOF type.
Definition: MultiBody.h:52

DofInfo::range
Range< double > range
Range of allowed values.
Definition: MultiBody.h:53

Range< double >