Gazebo logo

Gazebo
Frontpage
Contents
User
Installation
User Guide
Reference Guide
Class List
Class Hierarchy
Console-mode Server
Interactive Server
Working with Player
Worldfile Syntax
Using libgazebo
ToDo list
Online
Homepage
Download
Project
Bugs
Help

Body Class Reference

Class encapsulating a physical body. More...

#include <Body.hh>

List of all members.

Public Member Functions

 Body (const World *world, const char *bodyName=NULL, bool dummy=false)
 Constructor.
virtual ~Body ()
 Destructor.
void UpdateCoM ()
int GetNumGeoms ()
Geom ** GetGeoms ()
void Enable (bool enable)
GzPose GetPose (void) const
 Get the body pose (global cs).
GzVector GetPosition (void) const
 Get the body position (global cs).
GzQuatern GetRotation (void) const
 Get the body rotation (global cs).
void SetPose (GzPose pose)
 Set the body pose (global cs).
void SetPosition (GzVector pos)
 Set the body position (global cs).
void SetRotation (GzQuatern rot)
 Set the body rotation (global cs).
GzPose GetCoMPose (void) const
GzVector GetLinearVel (void) const
GzQuatern GetAngularVel (void) const
void SetLinearVel (GzVector vel)
 Set the linear velocity (global cs).
void SetAngularVel (GzVector vel)
 Set the angular velocity (global cs).
dBodyID GetBodyId () const
dSpaceID GetSpaceId () const
void SetGravityMode (bool enabled)
 Enable/disable effect of gravity on this body.
int GetGravityMode ()
void SetFiniteRotationAxis (double x, double y, double z)
void SetFiniteRotationMode (int mode)
void SetPickId (GLuint id)
GzVector GetTorque (void)
GzVector GetForce (void)
 Get the tota force acting on a body.
void SetForce (GzVector f)
 Set the total force acting on a body.
void SetTorque (double x, double y, double z)
void AddForce (double x, double y, double z)
void AddTorque (double x, double y, double z)
void AddRelForce (double x, double y, double z)
void AddRelTorque (double x, double y, double z)
void AddForceAtPos (double x, double y, double z, double pos_x, double pos_y, double pos_z)
void AddForceAtRelPos (double x, double y, double z, double pos_x, double pos_y, double pos_z)
void Render (int pass, RenderOptions *renderOpt)

Public Attributes

char * bodyName

Protected Attributes

dWorldID worldId
dBodyID bodyId
GzPose dummyPose
dMass mass

Friends

class Geom
class BaseGeom
class Camera

Detailed Description

Class encapsulating a physical body.

Constructor & Destructor Documentation

Body::Body (  const World *  world,
const char *  bodyName = NULL,
bool  dummy = false
) 
 

Constructor.

Body::~Body (   )  [virtual]
 

Destructor.

Member Function Documentation

void Body::UpdateCoM (   ) 
 

int Body::GetNumGeoms (   )  [inline]
 

Geom** Body::GetGeoms (   )  [inline]
 

void Body::Enable (  bool  enable  ) 
 

GzPose Body::GetPose (  void   )  const
 

Get the body pose (global cs).

GzVector Body::GetPosition (  void   )  const
 

Get the body position (global cs).

GzQuatern Body::GetRotation (  void   )  const
 

Get the body rotation (global cs).

void Body::SetPose (  GzPose  pose  ) 
 

Set the body pose (global cs).

void Body::SetPosition (  GzVector  pos  ) 
 

Set the body position (global cs).

void Body::SetRotation (  GzQuatern  rot  ) 
 

Set the body rotation (global cs).

GzPose Body::GetCoMPose (  void   )  const
 

GzVector Body::GetLinearVel (  void   )  const
 

GzQuatern Body::GetAngularVel (  void   )  const
 

void Body::SetLinearVel (  GzVector  vel  ) 
 

Set the linear velocity (global cs).

void Body::SetAngularVel (  GzVector  vel  ) 
 

Set the angular velocity (global cs).

dBodyID Body::GetBodyId (   )  const
 

dSpaceID Body::GetSpaceId (   )  const
 

void Body::SetGravityMode (  bool  enabled  ) 
 

Enable/disable effect of gravity on this body.

int Body::GetGravityMode (   ) 
 

void Body::SetFiniteRotationAxis (  double  x,
double  y,
double  z
) 
 

void Body::SetFiniteRotationMode (  int  mode  ) 
 

void Body::SetPickId (  GLuint  id  ) 
 

GzVector Body::GetTorque (  void   ) 
 

GzVector Body::GetForce (  void   ) 
 

Get the tota force acting on a body.

void Body::SetForce (  GzVector  f  ) 
 

Set the total force acting on a body.

void Body::SetTorque (  double  x,
double  y,
double  z
) 
 

void Body::AddForce (  double  x,
double  y,
double  z
) 
 

void Body::AddTorque (  double  x,
double  y,
double  z
) 
 

void Body::AddRelForce (  double  x,
double  y,
double  z
) 
 

void Body::AddRelTorque (  double  x,
double  y,
double  z
) 
 

void Body::AddForceAtPos (  double  x,
double  y,
double  z,
double  pos_x,
double  pos_y,
double  pos_z
) 
 

void Body::AddForceAtRelPos (  double  x,
double  y,
double  z,
double  pos_x,
double  pos_y,
double  pos_z
) 
 

void Body::Render (  int  pass,
RenderOptions *  renderOpt
) 
 

Friends And Related Function Documentation

friend class Geom [friend]
 

friend class BaseGeom [friend]
 

friend class Camera [friend]
 

Member Data Documentation

char* Body::bodyName
 

dWorldID Body::worldId [protected]
 

dBodyID Body::bodyId [protected]
 

GzPose Body::dummyPose [protected]
 

dMass Body::mass [protected]
 

The documentation for this class was generated from the following files:
Last updated 12 September 2005 21:38:45