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Model Class Reference
[Server]

#include <Model.hh>

Inheritance diagram for Model:

List of all members.

---

Detailed Description

A model

Public Member Functions
	Model ()
virtual	~Model ()
int	Load (XMLConfigNode *node)
int	Init ()
int	Update (UpdateParams &params)
int	Fini ()
void	Reset ()
void	SetType (const std::string &type)
const std::string &	GetType () const
void	SetXMLConfigNode (XMLConfigNode *node)
XMLConfigNode *	GetXMLConfigNode () const
void	SetInitPose (const Pose3d &pose)
const Pose3d &	GetInitPose () const
void	SetPose (const Pose3d &pose)
const Pose3d &	GetPose () const
Body *	CreateBody ()
Joint *	CreateJoint (Joint::Type type)
Joint *	GetJoint (std::string name)
Body *	GetBody ()
void	Attach ()
Body *	GetCanonicalBody ()
Protected Member Functions
virtual int	LoadChild (XMLConfigNode *)
virtual int	InitChild ()
virtual int	UpdateChild ()
virtual int	FiniChild ()
Protected Attributes
std::map < std::string, Body * >	bodies
std::map < std::string, Joint * >	joints
std::map < std::string, Controller * >	controllers

---

Constructor & Destructor Documentation

Model

(

)

Constructor

virtual ~Model

(

)

[virtual]

Destructor

---

Member Function Documentation

int Load

(

XMLConfigNode *

node

)

Load the model

int Init

(

)

Initialize the model

int Update

(

UpdateParams &

params

)

Update the model

Parameters:

params

Update parameters

int Fini

(

)

Finalize the model

void Reset

(

)

Reset the model

virtual int LoadChild

(

XMLConfigNode *

)

[inline, protected, virtual]

Load the child model

virtual int InitChild

(

)

[inline, protected, virtual]

Initialize the child model

virtual int UpdateChild

(

)

[inline, protected, virtual]

Update the child model

virtual int FiniChild

(

)

[inline, protected, virtual]

Finilaize thie child model

void SetType

(

const std::string &

type

)

Set the type of the model

const std::string& GetType

(

)

const

Get the type of the model

void SetXMLConfigNode

(

XMLConfigNode *

node

)

Set the XMLConfig node this model was loaded from

XMLConfigNode* GetXMLConfigNode

(

)

const

Get the XML Conig node this model was loaded from

void SetInitPose

(

const Pose3d &

pose

)

Set the initial pose

const Pose3d& GetInitPose

(

)

const

Get the initial pose

void SetPose

(

const Pose3d &

pose

)

Set the current pose

const Pose3d& GetPose

(

)

const

Get the current pose

Body* CreateBody

(

)

Create and return a new body

Returns:

Pointer to a new body.

Joint* CreateJoint

(

Joint::Type

type

)

Create and return a new joint

Parameters:

type

Type of the joint.

Returns:

Pointer to a new joint.

Joint* GetJoint

(

std::string

name

)

Get a joint

Parameters:

name

The name of the joint, specified in the world file

Returns:

Pointer to the joint

Body* GetBody

(

)

Get the default body

Returns:

The default body

void Attach

(

)

Attach this model to its parent

Body* GetCanonicalBody

(

)

Get the canonical body. Used for connected Model heirarchies

Returns:

Pointer to the body

---

Member Data Documentation

std::map<std::string, Body* > bodies [protected]

Map of the bodies. std::string == body_name

std::map<std::string, Joint* > joints [protected]

Map of the joints

std::map<std::string, Controller* > controllers [protected]

Map of the controllers

---

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

• Model.hh

---

Last updated Aug 04 2007