mc_rbdyn::PlanarSurface Struct Reference

#include <mc_rbdyn/PlanarSurface.h>

Inheritance diagram for mc_rbdyn::PlanarSurface:

Collaboration diagram for mc_rbdyn::PlanarSurface:

Public Member Functions
	PlanarSurface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName, const std::vector< std::pair< double, double >> &planarPoints)
	~PlanarSurface () override
void	computePoints () override
void	planarTransform (const double &T, const double &B, const double &N_rot)
const std::vector< std::pair< double, double > > &	planarPoints () const
void	planarPoints (const std::vector< std::pair< double, double >> &planarPoints)
tinyxml2::XMLElement *	toXML (tinyxml2::XMLDocument &doc) const override
std::shared_ptr< Surface >	copy () const override
std::string	type () const override
Public Member Functions inherited from mc_rbdyn::Surface
	Surface (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s, const std::string &materialName)
virtual	~Surface ()
const std::string &	name () const
void	name (const std::string &name)
const std::string &	bodyName () const
const std::string &	materialName () const
const std::vector< sva::PTransformd > &	points () const
unsigned int	bodyIndex (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot, const rbd::MultiBodyConfig &mbc) const
const sva::PTransformd &	X_b_s () const
void	X_b_s (const sva::PTransformd &X_b_s)
std::string	toStr ()
bool	operator== (const Surface &rhs)
bool	operator!= (const Surface &rhs)

Static Public Member Functions
static std::unique_ptr< PlanarSurface >	fromXML (const tinyxml2::XMLElement &elem)
	Construct a PlanarSurface from an XML element. More...
Static Public Member Functions inherited from mc_rbdyn::Surface
static std::unique_ptr< Surface >	fromXML (const tinyxml2::XMLElement &elem)
	Construct a Surface (of the appropriate derived type) from an XML element. More...

Additional Inherited Members
Protected Member Functions inherited from mc_rbdyn::Surface
std::vector< sva::PTransformd > &	points ()

Constructor & Destructor Documentation

PlanarSurface()

mc_rbdyn::PlanarSurface::PlanarSurface	(	const std::string &	name,
		const std::string &	bodyName,
		const sva::PTransformd &	X_b_s,
		const std::string &	materialName,
		const std::vector< std::pair< double, double >> &	planarPoints
	)

~PlanarSurface()

mc_rbdyn::PlanarSurface::~PlanarSurface ( )

override

Member Function Documentation

computePoints()

void mc_rbdyn::PlanarSurface::computePoints ( )

overridevirtual

Implements mc_rbdyn::Surface.

copy()

std::shared_ptr<Surface> mc_rbdyn::PlanarSurface::copy ( ) const

overridevirtual

Implements mc_rbdyn::Surface.

fromXML()

static std::unique_ptr<PlanarSurface> mc_rbdyn::PlanarSurface::fromXML ( const tinyxml2::XMLElement &  elem )

static

Construct a PlanarSurface from an XML element.

Example XML:

<planar_surface name="Top" link="box_table">
  <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.3632499873638153" />
  <points>
    <point xy="-0.17499999701976776 -0.2750000059604645" />
    <point xy="0.17499999701976776 -0.2750000059604645" />
    <point xy="0.17499999701976776 0.2750000059604645" />
    <point xy="-0.17499999701976776 0.2750000059604645" />
  </points>
  <material name="plastic" />
</planar_surface>

Parameters

elem	The XML element describing the planar surface.

Returns

Unique pointer to the constructed PlanarSurface.

planarPoints() [1/2]

const std::vector<std::pair<double, double> >& mc_rbdyn::PlanarSurface::planarPoints

(

)

const

planarPoints() [2/2]

void mc_rbdyn::PlanarSurface::planarPoints

(

const std::vector< std::pair< double, double >> &

planarPoints

)

planarTransform()

void mc_rbdyn::PlanarSurface::planarTransform	(	const double &	T,
		const double &	B,
		const double &	N_rot
	)

toXML()

tinyxml2::XMLElement* mc_rbdyn::PlanarSurface::toXML ( tinyxml2::XMLDocument &  doc ) const

overridevirtual

Implements mc_rbdyn::Surface.

type()

std::string mc_rbdyn::PlanarSurface::type ( ) const

overridevirtual

Implements mc_rbdyn::Surface.

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The documentation for this struct was generated from the following file:

• include/mc_rbdyn/PlanarSurface.h