#include <MultiBody.h>

Public Types
Local Types
enum class	Type { Active , Passive , Internal }
	The types of MultiBody that we can support. More...

Public Member Functions
Construction
	MultiBody (const MultiBody::Type _type)

	MultiBody (XMLNode &_node)
	Parse a multibody from an XML node. More...

	MultiBody (const MultiBody &)
	Copy. More...

	MultiBody (MultiBody &&)
	Move. More...

	~MultiBody ()

void	InitializeDOFs (const Boundary *const _b)

Assignment
MultiBody &	operator= (const MultiBody &)
	Copy. More...

MultiBody &	operator= (MultiBody &&)
	Move. More...

MultiBody Properties
MultiBody::Type	GetType () const noexcept
	Get the type for this MultiBody. More...

bool	IsActive () const noexcept
	Is this MultiBody an active type? More...

bool	IsPassive () const noexcept
	Is this MultiBody a non-active type? More...

bool	IsInternal () const noexcept
	Is this MultiBody an internal type? More...

bool	IsComposite () const noexcept

size_t	DOF () const noexcept
	Get the number of DOF for this multibody. More...

size_t	PosDOF () const noexcept
	Get the number of positional DOF for this multibody's base. More...

size_t	OrientationDOF () const noexcept
	Get the number of orientational DOF for this multibody's base. More...

size_t	JointDOF () const noexcept
	Get the number of joint DOF for this multibody. More...

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

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

Body Accessors
size_t	GetNumBodies () const noexcept
	Get the number of bodies in this multibody. More...

const std::vector< Body > &	GetBodies () const noexcept
	Get all of the internal bodies. More...

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
	Get the base body. More...

const Body *	GetBase () const noexcept

void	SetBaseBody (const size_t _index)

Body::Type	GetBaseType () const noexcept
	Get the body type of the base body. More...

Body::MovementType	GetBaseMovementType () const noexcept
	Get the movement type of the base body. More...

double	GetWeight () const
	Get the weight of the MultiBody. More...

Geometric Properties
const Vector3d &	GetCenterOfMass () const noexcept
	Get the center of mass. More...

double	GetBoundingSphereRadius () const noexcept
	Get the bounding sphere radius. More...

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

Connection *	GetJoint (const size_t _i) noexcept

const DofType &	GetDOFType (const size_t _i) const noexcept
	Get the DOF type for a specific degree of freedom. More...

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

void	UpdateJointLimits () noexcept

Configuration Methods
void	Configure (const Cfg &_c)

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

void	PushToNearestValidConfiguration ()

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

void	Write (std::ostream &_os) const

Detailed Description

A geometric object in workspace (such as an obstacle or robot) with one or more sub-components, referred to as Bodies.

Member Enumeration Documentation

◆ Type

enum MultiBody::Type

strong

The types of MultiBody that we can support.

Enumerator
Active	Movable object.
Passive	Static visible object.
Internal	Static invisible object.

Constructor & Destructor Documentation

◆ MultiBody() [1/4]

MultiBody::MultiBody ( const MultiBody::Type _type )

Construct a multibody.

Parameters

_type The multibody type.

◆ MultiBody() [2/4]

MultiBody::MultiBody ( XMLNode & _node )

Parse a multibody from an XML node.

◆ MultiBody() [3/4]

MultiBody::MultiBody ( const MultiBody & _other )

Copy.

◆ MultiBody() [4/4]

MultiBody::MultiBody ( MultiBody && _other )

Move.

◆ ~MultiBody()

MultiBody::~MultiBody ( )

default

Member Function Documentation

◆ AddBody()

size_t MultiBody::AddBody ( Body && _body )

Add a body.

Parameters

_body The body to add.

Returns: The index of the added body.

@TODO Adjust our body tracking so that we don't have to add bodies in index order.

◆ Configure() [1/2]

void MultiBody::Configure ( const Cfg & _c )

Place a robot at a given configuration.

Parameters

_c	The configuration to use.

◆ Configure() [2/2]

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

Place a robot at a given configuration.

Parameters

_v	The DOF values to use.

◆ DOF()

size_t MultiBody::DOF ( ) const

noexcept

Get the number of DOF for this multibody.

◆ GetBase() [1/2]

const Body * MultiBody::GetBase ( ) const

noexcept

◆ GetBase() [2/2]

Body * MultiBody::GetBase ( )

noexcept

Get the base body.

◆ GetBaseMovementType()

Body::MovementType MultiBody::GetBaseMovementType ( ) const

noexcept

Get the movement type of the base body.

◆ GetBaseType()

Body::Type MultiBody::GetBaseType ( ) const

noexcept

Get the body type of the base body.

◆ GetBodies()

const std::vector< Body > & MultiBody::GetBodies ( ) const

noexcept

Get all of the internal bodies.

◆ GetBody() [1/2]

const Body * MultiBody::GetBody ( const size_t _i ) const

noexcept

◆ GetBody() [2/2]

Body * MultiBody::GetBody ( const size_t _i )

noexcept

Get an internal body.

Parameters

_i	The index of the body.

◆ GetBoundingSphereRadius()

double MultiBody::GetBoundingSphereRadius ( ) const

noexcept

Get the bounding sphere radius.

◆ GetCenterOfMass()

const Vector3d & MultiBody::GetCenterOfMass ( ) const

noexcept

Get the center of mass.

◆ GetCurrentCfg()

std::vector< double > MultiBody::GetCurrentCfg ( )

noexcept

Get the current configuration dofs (no velocity), as set by Configure().

◆ GetCurrentDOFs()

const std::vector< double > & MultiBody::GetCurrentDOFs ( ) const

noexcept

Get the current DOFs for this configuration, as set by Configure().

◆ GetDofInfo()

const vector< DofInfo > & MultiBody::GetDofInfo ( ) const

noexcept

Get the DOF info for a specific degree of freedom.

◆ GetDOFType()

const DofType & MultiBody::GetDOFType ( const size_t _i ) const

noexcept

Get the DOF type for a specific degree of freedom.

◆ GetEndEffectors()

std::vector< const Body * > MultiBody::GetEndEffectors ( ) const

noexcept

Get the set of bodies which are end-effectors (i.e., have no forward connections).

◆ GetJoint()

Connection * MultiBody::GetJoint ( const size_t _i )

noexcept

Get a specific Connection.

Parameters

_i	The connection index.

◆ GetJoints()

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

noexcept

Get the Connections in this multibody.

◆ GetNumBodies()

size_t MultiBody::GetNumBodies ( ) const

noexcept

Get the number of bodies in this multibody.

◆ GetType()

MultiBody::Type MultiBody::GetType ( ) const

noexcept

Get the type for this MultiBody.

◆ GetWeight()

double MultiBody::GetWeight ( ) const

Get the weight of the MultiBody.

◆ InitializeDOFs()

void MultiBody::InitializeDOFs ( const Boundary *const _b )

Initialize the DOF information for this multibody.

Parameters

_b	The Boundary for DOF ranges.

◆ IsActive()

bool MultiBody::IsActive ( ) const

noexcept

Is this MultiBody an active type?

◆ IsComposite()

bool MultiBody::IsComposite ( ) const

noexcept

Is this MultiBody a composite body, i.e. having multiple decoupled bases? This is now ONLY used to check if an old version of disassembly planning problem modeling is used! Composite C-Space that conforms to this check is now depricated, and Group configurations should be used.

◆ IsInternal()

bool MultiBody::IsInternal ( ) const

noexcept

Is this MultiBody an internal type?

◆ IsPassive()

bool MultiBody::IsPassive ( ) const

noexcept

Is this MultiBody a non-active type?

◆ JointDOF()

size_t MultiBody::JointDOF ( ) const

noexcept

Get the number of joint DOF for this multibody.

◆ operator=() [1/2]

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

Copy.

◆ operator=() [2/2]

MultiBody & MultiBody::operator= ( MultiBody && _other )

Move.

◆ OrientationDOF()

size_t MultiBody::OrientationDOF ( ) const

noexcept

Get the number of orientational DOF for this multibody's base.

◆ PosDOF()

size_t MultiBody::PosDOF ( ) const

noexcept

Get the number of positional DOF for this multibody's base.

◆ PushToNearestValidConfiguration()

void MultiBody::PushToNearestValidConfiguration ( )

Check if the DOF values are out-of-range. If so, push them to the nearest acceptable configuration and reconfigure the model.

Note: In this context, 'valid' means with respect to the joint limits only. It does not consider collisions or any other validity.

◆ Read()

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

Read a MultiBody from an input stream and compute information.

Parameters

_is	The input stream to read from.
_cbs	Counting stream buffer

◆ SetBaseBody()

void MultiBody::SetBaseBody ( const size_t _index )

Set the base body.

Parameters

_index The index of the body to use as the base.

◆ UpdateJointLimits()

void MultiBody::UpdateJointLimits ( )

noexcept

Update the DOF info from the current values in the connection objects. @TODO Fix this so that we do not double-store the limits both here and in connection.

◆ Write()

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

Write the MultiBody to an output stream.

Parameters

_os	The output stream to write to.

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

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

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ MultiBody() [1/4]

◆ MultiBody() [2/4]

◆ MultiBody() [3/4]

◆ MultiBody() [4/4]

◆ ~MultiBody()

Member Function Documentation

◆ AddBody()

◆ Configure() [1/2]

◆ Configure() [2/2]

◆ DOF()

◆ GetBase() [1/2]

◆ GetBase() [2/2]

◆ GetBaseMovementType()

◆ GetBaseType()

◆ GetBodies()

◆ GetBody() [1/2]

◆ GetBody() [2/2]

◆ GetBoundingSphereRadius()

◆ GetCenterOfMass()

◆ GetCurrentCfg()

◆ GetCurrentDOFs()

◆ GetDofInfo()

◆ GetDOFType()

◆ GetEndEffectors()

◆ GetJoint()

◆ GetJoints()

◆ GetNumBodies()

◆ GetType()

◆ GetWeight()

◆ InitializeDOFs()

◆ IsActive()

◆ IsComposite()

◆ IsInternal()

◆ IsPassive()

◆ JointDOF()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ OrientationDOF()

◆ PosDOF()

◆ PushToNearestValidConfiguration()

◆ Read()

◆ SetBaseBody()

◆ UpdateJointLimits()

◆ Write()