A group of pysical objects (and the joints among them) on which it is possible to act as if they were a single WObject. More...

Inheritance diagram for PhyObjectsGroup:

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Public Types
typedef int	ChainIDType
	The type for chain IDs.

typedef int	ElementIDType
	The type for objects and joints IDs (inside chains)

Public Member Functions
	PhyObjectsGroup (PhyObject headObject, World world, QString name="unamed")
	Constructor.

	~PhyObjectsGroup ()
	Destructor.

ElementIDType	addJointDOF (PhyJoint *joint, unsigned int dofID, ChainIDType chainID=ChainIDType())
	Adds a DOF to the group.

ElementIDType	addObject (PhyObject *obj, ChainIDType chainID=ChainIDType())
	Adds an object to the group.

void	enableJoints (bool b)
	Enables/Disables all joints in the group.

PhyObject *	getHeadObject () const
	Returns a pointer to the head object.

virtual void	postUpdate ()
	The function called after updating the world.

virtual void	preUpdate ()
	The function called before updating the world.

void	resetObjectPositions ()
	Resets all objects and joints to their stored relative position.

void	setDOFPosition (real pos, ChainIDType chainID, ElementIDType dof)
	Moves a joint DOF to the desidered position by updating objects positions.

void	setKinematic (bool b)
	Changes between kinematic/dynamic behaviour for all objects of the group.

void	setStatic (bool b)
	Makes all objects static or not.

void	updateFromDOF ()
	This updates all kinematic chains so to respect DOFs status.

void	updateRelativePositions ()
	Updates the relative position of objects in the group.

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
	return the color of this object

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.

void	setAlpha (int alpha)
	set the value of alpha channel (the transparency)

void	setColor (QColor c)
	Set the color to use on rendering.

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.

Additional Inherited Members
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

A group of pysical objects (and the joints among them) on which it is possible to act as if they were a single WObject.

Note: This is NOT a PhyObject, it is a WObject This is used mainly for the hands in kinematic simulations. This is in fact set as the last object of the kinematic chain of arms. One object is chosen as the "head" of the group. The relative position of all objects with respect to the "head" is memorized when this object is created; when this object is moved (its matrix is changed), first the "head" of the group is moved and then all the other objects keeping their relative position/orientation. Each object/DOF in this group belongs to a chain. A chain is identified by a number. When an object/DOF is added to the group, it is appended to a chain. The setDOFPosition function can be used to move objects in a chain so that the joint reaches the specified position (this only works for rotational joints, for the moment). The order in the chain is important: when the joint i-th is moved, all objects with id greater or equal to i are moved (which means that their relative position matrix is changed). All chains start with the head object.; Chains only affect the behaviour of the setDOFPosition functions, if you plan not to use that function, you can safely place all objects in the same chain.; We have no responsability over objects in this group (e.g. we do not delete them when destroyed)

Definition at line 229 of file phyicubhelpers.h.

Member Typedef Documentation

typedef int ChainIDType

The type for chain IDs.

Definition at line 237 of file phyicubhelpers.h.

typedef int ElementIDType

The type for objects and joints IDs (inside chains)

The object with the same ID of a joint, is the child object of the joint

Definition at line 245 of file phyicubhelpers.h.

Constructor & Destructor Documentation

PhyObjectsGroup	(	PhyObject *	headObject,
		World *	world,
		QString	name = `"unamed"`
	)

Constructor.

Parameters

headObject	the head object (see class description)
world	the world to which this object belongs
name	the name for this object

Definition at line 196 of file phyicubhelpers.cpp.

References WObject::matrix(), and WObject::tm.

~PhyObjectsGroup ( )

Destructor.

Definition at line 206 of file phyicubhelpers.cpp.

Member Function Documentation

PhyObjectsGroup::ElementIDType addJointDOF	(	PhyJoint *	joint,
		unsigned int	dofID,
		PhyObjectsGroup::ChainIDType	chainID = `ChainIDType()`
	)

Adds a DOF to the group.

You should add all dofs of all joints between objects in the group

Parameters

joint	the joint to add
dofID	the id of the dof in the joint to add
chainID	the id of the chain to which this joint will be appended

Definition at line 225 of file phyicubhelpers.cpp.

References PhyJoint::dofs(), and PhyJoint::numDofs().

Referenced by PhyiCub::PhyiCub().

PhyObjectsGroup::ElementIDType addObject	(	PhyObject *	obj,
		PhyObjectsGroup::ChainIDType	chainID = `ChainIDType()`
	)

Adds an object to the group.

Parameters

obj	the object to add
chainID	the id of the chain to which this object will be appended

Returns: the ID of the object in the chain

Definition at line 216 of file phyicubhelpers.cpp.

References wMatrix::inverse(), and WObject::matrix().

Referenced by PhyiCub::PhyiCub().

void enableJoints ( bool b )

Enables/Disables all joints in the group.

See the description of the enable() method of the PhyJoint class for more information

Parameters

b	if true enables joints, if false disables them

Definition at line 255 of file phyicubhelpers.cpp.

PhyObject* getHeadObject ( ) const

inline

Returns a pointer to the head object.

Returns: a pointer to the head object

Definition at line 384 of file phyicubhelpers.h.

Referenced by KinematicLimb< iCub::iKin::iCubArm >::createJoint().

void postUpdate ( )

virtual

The function called after updating the world.

This does nothing

Reimplemented from WObject.

Definition at line 324 of file phyicubhelpers.cpp.

void preUpdate ( )

virtual

The function called before updating the world.

This does nothing

Reimplemented from WObject.

Definition at line 320 of file phyicubhelpers.cpp.

void resetObjectPositions ( )

inline

Resets all objects and joints to their stored relative position.

Definition at line 324 of file phyicubhelpers.h.

Referenced by PhyiCub::changedMatrix(), PhyiCub::configurePosture(), and PhyiCub::preUpdate().

void setDOFPosition	(	real	pos,
		PhyObjectsGroup::ChainIDType	chainID,
		PhyObjectsGroup::ElementIDType	dof
	)

Moves a joint DOF to the desidered position by updating objects positions.

This changes the relative positions matrices, and also moves objects and updates joints.

Parameters

pos	the new position for the joint. This must be an angle in radiants for rotational joints or a position for linear joints.
chainID	the id of the chain
dof	the dof of the chain whose position has to be changed

Note: For the moment this only works for rotational joints

Warning: Before calling this make sure all elements are in their correct relative position (e.g. by calling resetObjectPositions()), otherwise objects are not correctly repositioned.; The rotation is done around the inverted DOF axis. This is this way because when building the iCub the parent and child objects of joints are inverted in respect to kinematic chains considered here (e.g. in the first joint of each finger the child object is the hand palm, while the chain is from the palm to the finger). As this class is only used within the icub class, we haven't tried to generalize this.

Definition at line 276 of file phyicubhelpers.cpp.

References PhyDOF::axis(), PhyDOF::centre(), PhyJoint::dofs(), wMatrix::inverse(), PhyDOF::joint(), WObject::matrix(), PhyDOF::position(), and wMatrix::rotateAround().

Referenced by PhyiCub::configurePosture(), and PhyObjectsGroup::updateFromDOF().

void setKinematic ( bool b )

Changes between kinematic/dynamic behaviour for all objects of the group.

See the description of the setKinematic() method of the PhyObject class for more information

Parameters