Gazebo

Geom Class Reference
[Physics]

#include <Geom.hh>

Inheritance diagram for Geom:

Entity BoxGeom CylinderGeom HeightmapGeom PlaneGeom RayGeom SphereGeom TrimeshGeom List of all members.

Detailed Description

Base class for all geoms.


Public Member Functions

 Geom (Body *body)
 Constructor.
virtual ~Geom ()
 Destructor.
virtual void Load (XMLConfigNode *node)
 Load the geom.
virtual void Save ()
 Load the geom.
void SetGeom (dGeomID geomId, bool placeable)
 Set the encapsulated geometry object.
void Update ()
 Update function for geoms.
virtual void UpdateChild ()
 Update child class.
dGeomID GetGeomId () const
 Return the geom id.
dGeomID GetTransId () const
 Return the transform id.
int GetGeomClass () const
 Get the ODE geom class.
bool IsPlaceable () const
 Return whether this geom is placeable.
void SetPose (const Pose3d &pose, bool updateCoM=true)
 Set the pose.
Pose3d GetPose () const
 Return the pose of the geom.
void SetPosition (const Vector3 &pos)
 Set the position.
void SetRotation (const Quatern &rot)
 Set the rotation.
void SetCategoryBits (unsigned int bits)
 Set the category bits, used during collision detection.
void SetCollideBits (unsigned int bits)
 Set the collide bits, used during collision detection.
const dMass * GetBodyMassMatrix ()
 Get the mass of the geom.
void SetLaserFiducialId (int id)
 Set the laser fiducial integer id.
int GetLaserFiducialId () const
 Get the laser fiducial integer id.
void SetLaserRetro (float retro)
 Set the laser retro reflectiveness.
float GetLaserRetro () const
 Get the laser retro reflectiveness.
void SetTransparency (float trans)
 Set the transparency.
float GetTransparency () const
 Get the value of the transparency.
void ShowBoundingBox (bool show)
 Set the visibility of the bounding box.
void ShowJoints (bool show)
 Set the visibility of the joints.
void ShowPhysics (bool)
 Set the visibility of the physical entity of this geom.
virtual void SetImmovableBasePose (const Pose3d &pose)
 Set base pose when body is immovable (static).

Public Attributes

ContactParamscontact
 Contact parameters.

Protected Member Functions

virtual void LoadChild (XMLConfigNode *node)=0
 Load child class.

Protected Attributes

Bodybody
 The body this geom belongs to.
dGeomID transId
 ID for the transform geom.
dGeomID geomId
 ID for the sub-geom.
dMass mass
 Mass of this geometry.
dMass bodyMass
 mass of the body
double dblMass
 Mass as a double.


Member Function Documentation

dGeomID GetGeomId (  )  const

Return the geom id.

Returns:
The geom id

dGeomID GetTransId (  )  const

Return the transform id.

Returns:
The transform id

void SetPose ( const Pose3d pose,
bool  updateCoM = true 
)

Set the pose.

Parameters:
pose New pose
updateCoM True to update the bodies Center of Mass

void SetPosition ( const Vector3 pos  ) 

Set the position.

Parameters:
pos Vector3 position

void SetRotation ( const Quatern rot  ) 

Set the rotation.

Parameters:
rot Quaternion rotation

void SetCategoryBits ( unsigned int  bits  ) 

Set the category bits, used during collision detection.

Parameters:
bits The bits

void SetCollideBits ( unsigned int  bits  ) 

Set the collide bits, used during collision detection.

Parameters:
bits The bits


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

Last updated Aug 04 2007