#include <Body.h>

Collaboration diagram for Body:

Public Types
Local Types
enum class	Type { Planar , Volumetric , Fixed , Joint }
	The type of part this body represents within its owning multi body. More...

enum class	MovementType { Fixed , Joint , Rotational , Translational }
	The type of movement this body can perform. More...

Public Member Functions
const std::string &	Label () const noexcept

bool	IsBase () const noexcept
	Is this body a base? More...

void	SetBodyType (const Body::Type _type) noexcept
	Set the type of this body. More...

Body::Type	GetBodyType () const noexcept
	Get the type of this body. More...

void	SetMovementType (const MovementType _type) noexcept
	Set the movement type for this body. More...

MovementType	GetMovementType () const noexcept
	Get the movement type for this body. More...

Construction
	Body (MultiBody *const _owner, const size_t _index=0)

	Body (MultiBody *const _owner, XMLNode &_node)

	Body (const Body &_other)
	Copy. More...

	Body (Body &&_other)
	Move. More...

	~Body ()

Assignment
Body &	operator= (const Body &_other)
	Copy. More...

Body &	operator= (Body &&_other)
	Move. More...

Validation
void	Validate () const

MultiBody Accessors
MultiBody *	GetMultiBody () const noexcept
	Get the owning MultiBody. More...

void	SetMultiBody (MultiBody *const _owner) noexcept
	Set the owning MultiBody. More...

size_t	GetIndex () const noexcept
	Get the index of this body within the owning MultiBody. More...

double	GetWeight () const
	Get the weight of this body. More...

Physical Properties
double	GetMass () const
	Get the mass. More...

const Matrix3x3 &	GetMoment () const
	Get the moment of inertia matrix in the model frame. More...

Geometric Properties
void	SetPolyhedron (GMSPolyhedron &&_poly)
	Set the polyhedron model for this body. More...

const GMSPolyhedron &	GetPolyhedron () const
	Get the polyhedron in model coordinates. More...

const GMSPolyhedron &	GetWorldPolyhedron () const
	Get the polyhedron in world coordinates. More...

const GMSPolyhedron &	GetBoundingBox () const
	Get the bounding box in model coordinates. More...

GMSPolyhedron	GetWorldBoundingBox () const
	Compute the bounding box in world coordinates. More...

Transform Functions
void	MarkDirty ()
	Mark all cached objects as requiring an update. More...

void	Configure (const Transformation &_transformation)

const Transformation &	GetWorldTransformation () const

Connection Information
size_t	ForwardConnectionCount () const noexcept

size_t	BackwardConnectionCount () const noexcept

size_t	AdjacencyConnectionCount () const noexcept

Connection &	GetForwardConnection (const size_t _index) const noexcept

Connection &	GetBackwardConnection (const size_t _index) const noexcept

Connection &	GetAdjacencyConnection (const size_t _index) const noexcept

Connection *	GetConnectionTo (const Body *const _other) const noexcept

bool	IsAdjacent (const Body *const _otherBody) const

bool	SameParent (const Body *const _otherBody) const

void	LinkForward (Connection *const _c)

void	LinkBackward (Connection *const _c)

void	LinkAdjacency (Connection *const _c)

void	Unlink (Connection *const _c)

Visualization
const glutils::color &	GetColor () const
	Get the color for the body. More...

void	SetColor (const glutils::color &_c)
	Set the color for the body. More...

bool	IsTextureLoaded () const
	Check if a texture was loaded. More...

const std::string &	GetTexture () const
	Get the loaded texture file name. More...

I/O
@TODO Remove all COM adjust stuff.
static std::string	m_modelDataDir
	Directory of geometry files. More...

const std::string &	GetFileName () const
	Get the file name from which this body was constructed. More...

std::string	GetFilePath () const
	Get the full path of the file from which this body was constructed. More...

void	ReadGeometryFile (const std::string &_filename)

void	ReadGeometryFile (GMSPolyhedron::COMAdjust _comAdjust=GMSPolyhedron::COMAdjust::None)

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

Detailed Description

A single polyhedral body in workspace. One or more of these are composed to form a MultiBody, which is PMPL's working representation of multi-part object geometries.

Each Body has two representations: one for the 'model frame' and one for the 'world frame'. The model frame is the coordinate frame in which the Body was originally described - this is usually centered on the Body's center of mass. The world frame is the coordinate frame in our current environment - this represents the Body after it has been translated/oriented into its place in the planning scene.

@TODO Remove COM adjust everywhere. This has become more problematic than helpful. We will always do BBX centering from the fix onward.

Member Enumeration Documentation

◆ MovementType

enum Body::MovementType

strong

The type of movement this body can perform.

Enumerator
Fixed	No movement.
Joint	Defined by joint connection.
Rotational	Rotation + translation.
Translational	Just translation.

◆ Type

enum Body::Type

strong

The type of part this body represents within its owning multi body.

Enumerator
Planar	2D base
Volumetric	3D base
Fixed	Fixed base.
Joint	Link.

Constructor & Destructor Documentation

◆ Body() [1/4]

Body::Body	(	MultiBody *const	_owner,
		const size_t	_index = `0`
	)

Construct an empty body.

Parameters

_owner	The owning multibody.
_index	The body index in the multibody (0 for base).

◆ Body() [2/4]

Body::Body	(	MultiBody *const	_owner,
		XMLNode &	_node
	)

Construct a body from an XML node.

Parameters

_owner	The owning multibody.
_node	The XML node to parse.

◆ Body() [3/4]

Body::Body ( const Body & _other )

Copy.

Copying a body does not copy the owning multibody pointer or the connections as this would not constitute a meaningful object. Moving a body carries the external pointers as expected.

◆ Body() [4/4]

Body::Body ( Body && _other )

default

Move.

◆ ~Body()

Body::~Body ( )

default

Member Function Documentation

◆ AdjacencyConnectionCount()

size_t Body::AdjacencyConnectionCount ( ) const

noexcept

Returns: Number of additional adjacent Connections

◆ BackwardConnectionCount()

size_t Body::BackwardConnectionCount ( ) const

noexcept

Returns: Number of backward Connection

◆ Configure()

void Body::Configure ( const Transformation & _transformation )

Set the transformation from model to world coordinates.

Parameters

_transformation The new transformation for this body.

◆ ForwardConnectionCount()

size_t Body::ForwardConnectionCount ( ) const

noexcept

Returns: Number of forward Connection

◆ GetAdjacencyConnection()

Connection & Body::GetAdjacencyConnection ( const size_t _index ) const

noexcept

Parameters

_index Index of desired adjacency Connection

Returns: Requested adjacency Connection

◆ GetBackwardConnection()

Connection & Body::GetBackwardConnection ( const size_t _index ) const

noexcept

Parameters

_index Index of desired backward Connection

Returns: Requested backward Connection

◆ GetBodyType()

Body::Type Body::GetBodyType ( ) const

noexcept

Get the type of this body.

◆ GetBoundingBox()

const GMSPolyhedron & Body::GetBoundingBox ( ) const

Get the bounding box in model coordinates.

◆ GetColor()

const glutils::color & Body::GetColor ( ) const

Get the color for the body.

◆ GetConnectionTo()

Connection * Body::GetConnectionTo ( const Body *const _other ) const

noexcept

Get the connection joining this to another body.

Parameters

_other The other body.

Returns: The connection joining this and _other, or nullptr if the bodies are not connected.

◆ GetFileName()

const std::string & Body::GetFileName ( ) const

Get the file name from which this body was constructed.

◆ GetFilePath()

std::string Body::GetFilePath ( ) const

Get the full path of the file from which this body was constructed.

◆ GetForwardConnection()

Connection & Body::GetForwardConnection ( const size_t _index ) const

noexcept

Parameters

_index Index of desired forward Connection

Returns: Requested forward Connection

◆ GetIndex()

size_t Body::GetIndex ( ) const

noexcept

Get the index of this body within the owning MultiBody.

◆ GetMass()

double Body::GetMass ( ) const

Get the mass.

◆ GetMoment()

const Matrix3x3 & Body::GetMoment ( ) const

Get the moment of inertia matrix in the model frame.

◆ GetMovementType()

Body::MovementType Body::GetMovementType ( ) const

noexcept

Get the movement type for this body.

◆ GetMultiBody()

MultiBody * Body::GetMultiBody ( ) const

noexcept

Get the owning MultiBody.

◆ GetPolyhedron()

const GMSPolyhedron & Body::GetPolyhedron ( ) const

Get the polyhedron in model coordinates.

◆ GetTexture()

const string & Body::GetTexture ( ) const

Get the loaded texture file name.

◆ GetWeight()

double Body::GetWeight ( ) const

Get the weight of this body.

◆ GetWorldBoundingBox()

GMSPolyhedron Body::GetWorldBoundingBox ( ) const

Compute the bounding box in world coordinates.

◆ GetWorldPolyhedron()

const GMSPolyhedron & Body::GetWorldPolyhedron ( ) const

Get the polyhedron in world coordinates.

◆ GetWorldTransformation()

const Transformation & Body::GetWorldTransformation ( ) const

Get the transformation from model to world coordinates.

Returns: The current transformation.

◆ IsAdjacent()

bool Body::IsAdjacent ( const Body *const _otherBody ) const

Determines if two bodies share the same joint

Parameters

_otherBody Second body

Returns: True if adjacent

◆ IsBase()

bool Body::IsBase ( ) const

noexcept

Is this body a base?

◆ IsTextureLoaded()

bool Body::IsTextureLoaded ( ) const

Check if a texture was loaded.

◆ Label()

const std::string & Body::Label ( ) const

noexcept

Get the unique string label for this body. If none is provided, the multibody index will be used.

◆ LinkAdjacency()

void Body::LinkAdjacency ( Connection *const _c )

Attach an Adjacency connection to this body.

Parameters

_c	The Connection to attach.

◆ LinkBackward()

void Body::LinkBackward ( Connection *const _c )

Attach a backward connection to this body.

Parameters

_c	The Connection to attach.

◆ LinkForward()

void Body::LinkForward ( Connection *const _c )

Attach a forward connection to this body.

Parameters

_c	The Connection to attach.

◆ MarkDirty()

void Body::MarkDirty ( )

Mark all cached objects as requiring an update.

◆ operator=() [1/2]

Body & Body::operator= ( Body && _other )

default

Move.

◆ operator=() [2/2]

Body & Body::operator= ( const Body & _other )

Copy.

◆ Read()

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

Parse a body from an old .env or .robot file.

Parameters

_is	An open input stream for the geometry file.
_cbs	A counting stream buffer for error reporting.

Note: This function is provided for backwards compatibility with old environments. If it does not work with your example, you should update the old files to the new XML format. Do not waste time working on this function.

◆ ReadGeometryFile() [1/2]

void Body::ReadGeometryFile ( const std::string & _filename )

Read geometry information from file.

Parameters

_filename The file to read from.

◆ ReadGeometryFile() [2/2]

void Body::ReadGeometryFile ( GMSPolyhedron::COMAdjust _comAdjust = GMSPolyhedron::COMAdjust::None )

Read geometry information from file.

Parameters

_comAdjust Center of mass adjustment method

◆ SameParent()

bool Body::SameParent ( const Body *const _otherBody ) const

Determines if two bodies share a parent

Parameters

_otherBody Second body

Returns: True if sharing a parent

◆ SetBodyType()

void Body::SetBodyType ( const Body::Type _type )

noexcept

Set the type of this body.

◆ SetColor()

void Body::SetColor ( const glutils::color & _c )

Set the color for the body.

◆ SetMovementType()

void Body::SetMovementType ( const MovementType _type )

noexcept

Set the movement type for this body.

◆ SetMultiBody()

void Body::SetMultiBody ( MultiBody *const _owner )

noexcept

Set the owning MultiBody.

◆ SetPolyhedron()

void Body::SetPolyhedron ( GMSPolyhedron && _poly )

Set the polyhedron model for this body.

◆ Unlink()

void Body::Unlink ( Connection *const _c )

Remove a connection to this body. Does not affect the other body or the connection object.

◆ Validate()

void Body::Validate ( ) const

@TODO Move to GMSPolyhedron. Determine if the polyhedron is valid, triangulated, closed, and having all normals facing a consistent 'outward' direction. Throws an exception if the model is invalid (because invalid models do not behave properly with collision checks).

Note: Uses a combination of the regular and CGAL points as we use CGAL for some of these checks.

Field Documentation

◆ m_modelDataDir

std::string Body::m_modelDataDir

static

Directory of geometry files.

The documentation for this class was generated from the following files:

/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Body.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Body.cpp

Public Types

Public Member Functions

I/O

Detailed Description

Member Enumeration Documentation

◆ MovementType

◆ Type

Constructor & Destructor Documentation

◆ Body() [1/4]

◆ Body() [2/4]

◆ Body() [3/4]

◆ Body() [4/4]

◆ ~Body()

Member Function Documentation

◆ AdjacencyConnectionCount()

◆ BackwardConnectionCount()

◆ Configure()

◆ ForwardConnectionCount()

◆ GetAdjacencyConnection()

◆ GetBackwardConnection()

◆ GetBodyType()

◆ GetBoundingBox()

◆ GetColor()

◆ GetConnectionTo()

◆ GetFileName()

◆ GetFilePath()

◆ GetForwardConnection()

◆ GetIndex()

◆ GetMass()

◆ GetMoment()

◆ GetMovementType()

◆ GetMultiBody()

◆ GetPolyhedron()

◆ GetTexture()

◆ GetWeight()

◆ GetWorldBoundingBox()

◆ GetWorldPolyhedron()

◆ GetWorldTransformation()

◆ IsAdjacent()

◆ IsBase()

◆ IsTextureLoaded()

◆ Label()

◆ LinkAdjacency()

◆ LinkBackward()

◆ LinkForward()

◆ MarkDirty()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Read()

◆ ReadGeometryFile() [1/2]

◆ ReadGeometryFile() [2/2]

◆ SameParent()

◆ SetBodyType()

◆ SetColor()

◆ SetMovementType()

◆ SetMultiBody()

◆ SetPolyhedron()

◆ Unlink()

◆ Validate()

Field Documentation

◆ m_modelDataDir