Inheritance diagram for dart::dynamics::ShapeFrame:

Collaboration diagram for dart::dynamics::ShapeFrame:

Public Types
using	ShapeUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const ShapePtr &oldShape, const ShapePtr &newShape)>

using	RelativeTransformUpdatedSignal = common::Signal< void(const ShapeFrame *thisShapeFrame, const Eigen::Isometry3d &oldTransform, const Eigen::Isometry3d &newTransform)>

using	UniqueProperties = AspectProperties

using	Properties = UniqueProperties

Public Types inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
using	Impl = EmbedProperties< DerivedT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	AspectProperties = typename Impl::AspectProperties

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Types inherited from dart::dynamics::Entity
using	EntitySignal = common::Signal< void(const Entity *)>

using	FrameChangedSignal = common::Signal< void(const Entity , const Frame _oldFrame, const Frame *_newFrame)>

using	NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>

Public Member Functions
virtual	~ShapeFrame () override
	Destructor.

void	setProperties (const UniqueProperties &properties)
	Set the UniqueProperties of this ShapeFrame.

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this ShapeFrame.

const AspectProperties &	getAspectProperties () const

void	setShape (const ShapePtr &shape)
	Set shape.

ShapePtr	getShape ()
	Return shape.

ConstShapePtr	getShape () const
	Return (const) shape.

ShapeFrame *	asShapeFrame () override
	Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

const ShapeFrame *	asShapeFrame () const override
	Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

bool	isShapeNode () const
	Returns true if this Frame is a ShapeNode.

virtual ShapeNode *	asShapeNode ()
	Convert 'this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr.

virtual const ShapeNode *	asShapeNode () const
	Convert 'const this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr. More...

Public Member Functions inherited from dart::common::VersionCounter
	VersionCounter ()
	Default constructor.

virtual std::size_t	incrementVersion ()
	Increment the version for this object.

virtual std::size_t	getVersion () const
	Get the version number of this object.

Public Member Functions inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
template<typename... Args>
	EmbedPropertiesOnTopOf (Args &&... args)

Public Member Functions inherited from dart::dynamics::Frame
	Frame (const Frame &)=delete

	~Frame () override
	Destructor.

virtual const Eigen::Isometry3d &	getRelativeTransform () const =0
	Get the transform of this Frame with respect to its parent Frame.

const Eigen::Isometry3d &	getWorldTransform () const
	Get the transform of this Frame with respect to the World Frame.

Eigen::Isometry3d	getTransform (const Frame *_withRespectTo=Frame::World()) const
	Get the transform of this Frame with respect to some other Frame.

Eigen::Isometry3d	getTransform (const Frame withRespectTo, const Frame inCoordinatesOf) const
	Get the transform of this Frame with respect to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialVelocity () const =0
	Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...

const Eigen::Vector6d &	getSpatialVelocity () const
	Get the total spatial velocity of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of a fixed point in this Frame.

Eigen::Vector3d	getLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical velocity of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear velocity of a point that is fixed in this Frame. More...

Eigen::Vector3d	getAngularVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical velocity of this Frame relative to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialAcceleration () const =0
	Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...

virtual const Eigen::Vector6d &	getPrimaryRelativeAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...

virtual const Eigen::Vector6d &	getPartialAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More...

const Eigen::Vector6d &	getSpatialAcceleration () const
	Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of a fixed point in this Frame.

Eigen::Vector3d	getLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const

Eigen::Vector3d	getAngularAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...

const std::set< Entity * > &	getChildEntities ()
	Get a container with the Entities that are children of this Frame. More...

const std::set< const Entity * >	getChildEntities () const
	Get a container with the Entities that are children of this Frame. More...

std::size_t	getNumChildEntities () const
	Get the number of Entities that are currently children of this Frame.

const std::set< Frame * > &	getChildFrames ()
	Get a container with the Frames that are children of this Frame. More...

std::set< const Frame * >	getChildFrames () const
	Get a container with the Frames that are children of this Frame. More...

std::size_t	getNumChildFrames () const
	Get the number of Frames that are currently children of this Frame.

bool	isShapeFrame () const
	Returns true if this Frame is a ShapeFrame.

bool	isWorld () const
	Returns true if this Frame is the World Frame.

virtual void	dirtyTransform () override
	Notify the transformation updates of this Frame and all its children are needed.

virtual void	dirtyVelocity () override
	Notify the velocity updates of this Frame and all its children are needed.

virtual void	dirtyAcceleration () override
	Notify the acceleration updates of this Frame and all its children are needed.

Public Member Functions inherited from dart::dynamics::Entity
	Entity (Frame *_refFrame, bool _quiet)
	Constructor for typical usage.

	Entity ()
	Default constructor, delegates to Entity(ConstructAbstract_t)

	Entity (const Entity &)=delete

virtual	~Entity ()
	Destructor.

virtual const std::string &	setName (const std::string &_name)=0
	Set name. More...

virtual const std::string &	getName () const =0
	Return the name of this Entity.

Frame *	getParentFrame ()
	Get the parent (reference) frame of this Entity.

const Frame *	getParentFrame () const
	Get the parent (reference) frame of this Entity.

bool	descendsFrom (const Frame *_someFrame) const
	Returns true if and only if this Entity is itself (i.e. More...

bool	isFrame () const
	True iff this Entity is also a Frame.

bool	isQuiet () const
	Returns true if this Entity is set to be quiet. More...

virtual void	notifyTransformUpdate ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed.

bool	needsTransformUpdate () const
	Returns true iff a transform update is needed for this Entity.

virtual void	notifyVelocityUpdate ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed.

bool	needsVelocityUpdate () const
	Returns true iff a velocity update is needed for this Entity.

virtual void	notifyAccelerationUpdate ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

bool	needsAccelerationUpdate () const
	Returns true iff an acceleration update is needed for this Entity.

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Public Attributes
common::SlotRegister< ShapeUpdatedSignal >	onShapeUpdated
	Slot register for shape updated signal.

common::SlotRegister< RelativeTransformUpdatedSignal >	onRelativeTransformUpdated
	Slot register for relative transformation updated signal.

Public Attributes inherited from dart::dynamics::Entity
common::SlotRegister< FrameChangedSignal >	onFrameChanged
	Slot register for frame changed signal.

common::SlotRegister< NameChangedSignal >	onNameChanged
	Slot register for name changed signal.

common::SlotRegister< EntitySignal >	onTransformUpdated
	Slot register for transform updated signal.

common::SlotRegister< EntitySignal >	onVelocityChanged
	Slot register for velocity updated signal.

common::SlotRegister< EntitySignal >	onAccelerationChanged
	Slot register for acceleration updated signal.

Protected Member Functions
	ShapeFrame (Frame *parent, const Properties &properties)
	Constructor.

	ShapeFrame (Frame *parent, const ShapePtr &shape=nullptr)
	Constructor.

	ShapeFrame (const std::tuple< Frame *, Properties > &args)
	Delegating constructor.

Protected Member Functions inherited from dart::common::VersionCounter
void	setVersionDependentObject (VersionCounter *dependent)

Protected Member Functions inherited from dart::dynamics::Frame
	Frame (Frame *_refFrame)
	Constructor for typical usage.

	Frame ()
	Default constructor, delegates to Frame(ConstructAbstract_t)

	Frame (ConstructAbstractTag)
	Constructor for use by pure abstract classes.

virtual void	changeParentFrame (Frame *_newParentFrame) override
	Used by derived classes to change their parent frames.

virtual void	processNewEntity (Entity *_newChildEntity)
	Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More...

virtual void	processRemovedEntity (Entity *_oldChildEntity)
	Called when a child Entity is removed from its parent Frame. More...

Protected Member Functions inherited from dart::dynamics::Entity
	Entity (ConstructFrameTag)

	Entity (ConstructAbstractTag)

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Protected Attributes
bool	mAmShapeNode
	Contains whether or not this is a ShapeNode.

ShapeUpdatedSignal	mShapeUpdatedSignal
	Shape updated signal.

RelativeTransformUpdatedSignal	mRelativeTransformUpdatedSignal
	Relative transformation updated signal.

common::Connection	mConnectionForShapeVersionChange
	Connect to changes in the Shape version.

Protected Attributes inherited from dart::common::VersionCounter
std::size_t	mVersion

Protected Attributes inherited from dart::dynamics::Frame
Eigen::Isometry3d	mWorldTransform
	World transform of this Frame. More...

Eigen::Vector6d	mVelocity
	Total velocity of this Frame, in the coordinates of this Frame. More...

Eigen::Vector6d	mAcceleration
	Total acceleration of this Frame, in the coordinates of this Frame. More...

std::set< Frame * >	mChildFrames
	Container of this Frame's child Frames.

std::set< Entity * >	mChildEntities
	Container of this Frame's child Entities.

Protected Attributes inherited from dart::dynamics::Entity
Frame *	mParentFrame
	Parent frame of this Entity.

bool	mNeedTransformUpdate
	Does this Entity need a Transform update.

bool	mNeedVelocityUpdate
	Does this Entity need a Velocity update.

bool	mNeedAccelerationUpdate
	Does this Entity need an Acceleration update.

FrameChangedSignal	mFrameChangedSignal
	Frame changed signal.

NameChangedSignal	mNameChangedSignal
	Name changed signal.

EntitySignal	mTransformUpdatedSignal
	Transform changed signal.

EntitySignal	mVelocityChangedSignal
	Velocity changed signal.

EntitySignal	mAccelerationChangedSignal
	Acceleration changed signal.

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Friends
class	BodyNode

Additional Inherited Members
Static Public Member Functions inherited from dart::dynamics::Frame
static Frame *	World ()

static std::shared_ptr< Frame >	WorldShared ()

Protected Types inherited from dart::dynamics::Frame
enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Protected Types inherited from dart::dynamics::Entity
enum	ConstructFrameTag { ConstructFrame }
	Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Entity constructor is just a formality.

Member Function Documentation

◆ asShapeNode()

const ShapeNode * dart::dynamics::ShapeFrame::asShapeNode ( ) const

virtual

Convert 'const this' into a ShapeNode pointer if ShapeFrame is a ShapeNode, otherwise return nullptr.

This should be preferred over performing a dynamic_cast when you want to cast a ShapeFrame into a ShapeNode, because this method costs less.

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

dart/dynamics/ShapeFrame.hpp
dart/dynamics/ShapeFrame.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ asShapeNode()