Inheritance diagram for OperationalSpaceControlWorld:
Collaboration diagram for OperationalSpaceControlWorld:
Public Member Functions | |
| OperationalSpaceControlWorld (dart::simulation::WorldPtr _world) | |
| void | customPreStep () override |
| If update() is not overloaded, this function will be called at the beginning of each simulation step. More... | |
 Public Member Functions inherited from dart::gui::osg::WorldNode | |
| WorldNode (std::shared_ptr< dart::simulation::World > world=nullptr, ::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr) | |
| Default constructor Shadows are disabled by default. | |
| void | setWorld (std::shared_ptr< dart::simulation::World > newWorld) |
| Set the World that this WorldNode is associated with. | |
| std::shared_ptr< dart::simulation::World > | getWorld () const |
| Get the World that this WorldNode is associated with. | |
| virtual void | refresh () |
| This function is called at the beginning of each rendering cycle. More... | |
| virtual void | customPreRefresh () |
| If update() is not overloaded, this function will be called at the beginning of each rendering cycle. More... | |
| virtual void | customPostRefresh () |
| If update() is not overloaded, this function will be called at the end of each rendering cycle. More... | |
| virtual void | customPostStep () |
| If update() is not overloaded, this function will be called at the end of each simulation step. More... | |
| bool | isSimulating () const |
| Returns true iff the WorldNode is stepping between render cycles. | |
| void | simulate (bool on) |
| Pass in true to take steps between render cycles; pass in false to turn off steps between render cycles. More... | |
| void | setNumStepsPerCycle (std::size_t steps) |
| Set the number of steps to take between each render cycle (only if the simulation is not paused) | |
| std::size_t | getNumStepsPerCycle () const |
| Get the number of steps that will be taken between each render cycle (only if the simulation is not paused) | |
| bool | isShadowed () const |
| Get whether the WorldNode is casting shadows. | |
| void | setShadowTechnique (::osg::ref_ptr< osgShadow::ShadowTechnique > shadowTechnique=nullptr) |
| Set the ShadowTechnique If you wish to disable shadows, pass a nullptr. | |
| ::osg::ref_ptr< osgShadow::ShadowTechnique > | getShadowTechnique () const |
| Get the current ShadowTechnique nullptr is there are no shadows. | |
| static ::osg::ref_ptr< osgShadow::ShadowTechnique > | createDefaultShadowTechnique (const Viewer *viewer) |
| Helper function to create a default ShadowTechnique given a Viewer the default ShadowTechnique is ShadowMap. | |
| virtual | ~WorldNode () |
| Destructor. | |
Public Attributes | |
| dart::gui::osg::DragAndDrop * | dnd |
Protected Member Functions | |
| void | setupViewer () override |
| Called when this world gets added to an dart::gui::osg::Viewer. More... | |
| Protected Member Functions inherited from dart::gui::osg::WorldNode | |
| void | clearChildUtilizationFlags () |
| Clear the utilization flags of each child node. | |
| void | clearUnusedNodes () |
| Clear any nodes whose utilization flags were not triggered on this render cycle. | |
| void | refreshSkeletons () |
| Refresh all the Skeleton rendering data. | |
| void | refreshSimpleFrames () |
| Refresh all the custom Frame rendering data. | |
| void | refreshBaseFrameNode (dart::dynamics::Frame *frame) |
| void | refreshShapeFrameNode (dart::dynamics::Frame *frame) |
Protected Attributes | |
| SkeletonPtr | mRobot |
| BodyNode * | mEndEffector |
| SimpleFramePtr | mTarget |
| Eigen::Vector3d | mOffset |
| Eigen::Matrix3d | mKp |
| Eigen::MatrixXd | mKd |
| Eigen::VectorXd | mForces |
| Protected Attributes inherited from dart::gui::osg::WorldNode | |
| NodeMap | mFrameToNode |
| Map from Frame pointers to FrameNode pointers. | |
| std::shared_ptr< dart::simulation::World > | mWorld |
| The World that this WorldNode is associated with. | |
| bool | mSimulating |
| True iff simulation is active. | |
| std::size_t | mNumStepsPerCycle |
| Number of steps to take between rendering cycles. | |
| Viewer * | mViewer |
| Viewer that this WorldNode is inside of. | |
| ::osg::ref_ptr<::osg::Group > | mNormalGroup |
| OSG group for non-shadowed objects. | |
| ::osg::ref_ptr<::osgShadow::ShadowedScene > | mShadowedGroup |
| OSG group for shadowed objects. | |
| bool | mShadowed |
| Whether the shadows are enabled. | |
Additional Inherited Members | |
| Protected Types inherited from dart::gui::osg::WorldNode | |
| using | NodeMap = std::unordered_map< dart::dynamics::Frame *, ::osg::ref_ptr< ShapeFrameNode > > |
Member Function Documentation
◆ customPreStep()
|
inlineoverridevirtual |
If update() is not overloaded, this function will be called at the beginning of each simulation step.
This function can be overloaded to customize the behavior of each step. The default behavior is to do nothing, so overloading this function will not interfere with the usual update() operation. This will not get called if the simulation is paused.
Reimplemented from dart::gui::osg::WorldNode.
◆ setupViewer()
|
inlineoverrideprotectedvirtual |
Called when this world gets added to an dart::gui::osg::Viewer.
Override this function to customize the way your WorldNode starts up in an dart::gui::osg::Viewer. Default behavior does nothing.
Reimplemented from dart::gui::osg::WorldNode.
The documentation for this class was generated from the following file:
- examples/operational_space_control/main.cpp
