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Body.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: Base class for all bodies * Author: Nate Keonig, Andrew Howard * Date: 8 May 2003 * CVS: $Id: Body.hh,v 1.27 2004/11/16 06:02:00 inspectorg Exp $ */ #ifndef BODY_HH #define BODY_HH #include <ode/ode.h> #include "Vector.hh" #include "GL/gl.h" // Forward declarations class World; class Geom; class Body { public: Body( const World *world, const char *bodyName = NULL, bool dummy = false ); public: virtual ~Body(); // Attach a geometry to this body private: void AttachGeom( Geom *geom ); // Detach a geometry from this body private: void DetachGeom( Geom *geom ); // Update the CoM and mass matrix public: void UpdateCoM(); // Get the list of geometries public: int GetNumGeoms() {return this->geomCount;} public: Geom **GetGeoms() {return this->geoms;} // Enable/disable the body (so it doesnt fall, for example) public: void Enable(bool enable); public: GzPose GetPose( void ) const; public: GzVector GetPosition( void ) const; public: GzQuatern GetRotation( void ) const; public: void SetPose( GzPose pose ); public: void SetPosition( GzVector pos ); public: void SetRotation( GzQuatern rot ); // Get the CoM body pose (global cs) public: GzPose GetCoMPose( void ) const; // Get the body linear velocity (global cs) public: GzVector GetLinearVel( void ) const; // Get the body angular velocity (global cs) public: GzQuatern GetAngularVel( void ) const; public: void SetLinearVel( GzVector vel ); public: void SetAngularVel( GzVector vel ); // Get the body id public: dBodyID GetBodyId() const; // Get the default space id public: dSpaceID GetSpaceId() const; public: void SetGravityMode(bool enabled); public: int GetGravityMode(); // To correct the wheel rotation issues in ODE public: void SetFiniteRotationAxis(double x,double y,double z); public: void SetFiniteRotationMode(int mode); // Set pick id of all the geoms in this body public: void SetPickId( GLuint id ); // TODO? // Force/Torque Setting Functions public: GzVector GetTorque(void); public: GzVector GetForce(void); public: void SetForce( GzVector f ); public: void SetTorque( double x, double y, double z); public: void AddForce( double x, double y, double z); public: void AddTorque( double x, double y, double z); public: void AddRelForce( double x, double y, double z); public: void AddRelTorque( double x, double y, double z); public: void AddForceAtPos( double x, double y, double z, double pos_x,double pos_y,double pos_z); public: void AddForceAtRelPos( double x, double y, double z, double pos_x,double pos_y,double pos_z); // A name to reference us by public: char *bodyName; // ODE world we belong to protected: dWorldID worldId; // ODE body handle protected: dBodyID bodyId; // Pose of CoM relative to body private: GzPose comPose; // Body pose (for dummy bodies) protected: GzPose dummyPose; // List of geometries attach to this body private: int geomCount, geomMaxCount; private: Geom **geoms; // Mass properties of the object protected: dMass mass; // Warts friend class Geom; friend class BaseGeom; friend class Camera; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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