YarpObject Class Reference

YarpObject class. More...

Inheritance diagram for YarpObject:

Public Member Functions
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.
virtual	~YarpObject ()
	Destroy the YarpObject.
yarp::dev::PolyDriver *	polydriver (QString name)
	return the PolyDriver with the given name associated to it
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world
virtual	~WObject ()
	destroy the Object and drop it from the world
QColor	color () const
bool	isInvisible ()
	return if it is invisible
const wMatrix &	matrix () const
	return a reference to the transformation matrix
QString	name () const
	Return the name of this object.
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update
void	setAlpha (int alpha)
void	setColor (QColor c)
void	setInvisible (bool b)
	set invisibility
void	setMatrix (const wMatrix &newm)
	set a new matrix
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered.
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one)
QString	texture () const
	Return the texture name.
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one)
World *	world ()
	Return the world.
const World *	world () const
	Return the world (const version)
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.
virtual	~Ownable ()
	Destructor.
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.
Ownable *	owner () const
	Returns the owner of this object.
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

Protected Member Functions
void	registerServerControlBoard (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	registerServerFrameGrabber (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	removeServerControlBoard (QString devicename)
	Remove, and close the serverControlBoard registered and opened by above call.
Protected Member Functions inherited from WObject
virtual void	changedMatrix ()
	virtual function called when the transformation matrix change

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel.
bool	invisible
	if TRUE it will not renderized
QString	namev
	Name of the WObject.
QString	texturev
	Texture name.
wMatrix	tm
	Trasformation matrix.
bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one).
World *	worldv
	World.

Detailed Description

YarpObject class.

\

Motivation

This object represent a Yarped Object, and it's a kind of bridge between World and Yarp

Description

Warnings

Warnings

Definition at line 63 of file yarpobject.h.

Constructor & Destructor Documentation

YarpObject	(	World *	world,
		QString	name,
		const wMatrix &	tm = wMatrix::identity()
	)

Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.

Definition at line 71 of file yarpobject.cpp.

~YarpObject ( )

virtual

Destroy the YarpObject.

Definition at line 76 of file yarpobject.cpp.

Member Function Documentation

yarp::dev::PolyDriver* polydriver ( QString  name )

inline

return the PolyDriver with the given name associated to it

Definition at line 72 of file yarpobject.h.

Referenced by PhyiCub::enableRightArmCartesianController().

void registerServerControlBoard ( yarp::dev::DeviceDriver *  device, QString  devicename  )

protected

Add a DeviceDriver to the map of controllers
It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

Definition at line 80 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

Referenced by PhyiCub::PhyiCub().

void registerServerFrameGrabber ( yarp::dev::DeviceDriver *  device, QString  devicename  )

protected

Add a DeviceDriver to the map of controllers
It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

Definition at line 101 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

void removeServerControlBoard ( QString  devicename )

protected

Remove, and close the serverControlBoard registered and opened by above call.

Definition at line 91 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

Referenced by PhyiCub::~PhyiCub().

---

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

• worldsim/include/yarpobject.h
• worldsim/src/yarpobject.cpp