Physsim::MCArticulatedBody Class Reference

Defines an articulated body simulated using maximal coordinate methods. More...

#include <MCArticulatedBody.h>

Inheritance diagram for Physsim::MCArticulatedBody:

List of all members.

Public Member Functions
	MCArticulatedBody (const MCArticulatedBody &source)
virtual void	clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const
	Implements Base::clone().
virtual bool	is_struct_identical (BaseConstPtr object) const
virtual void	load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL)
	Implements Base::load_state().
virtual void	save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const
	Implements Base::save_state().
void	set_links (const std::vector< ArticulatedBodyLinkPtr > &links)
RigidBodyPtr	find_link (const std::string &linkname) const
MCArticulatedBodyJointPtr	find_joint (const std::string &jointname) const
void	add_link (MCArticulatedBodyLinkPtr link)
virtual VectorN	get_state_deriv ()
	Abstract method for getting the state derivative of the articulated body.
virtual VectorN	get_state ()
	Abstract method for getting the state of the articulated body.
virtual void	set_state (const VectorN &state)
	Abstract method for setting the state of the articulated body.
MatrixNPtr	calc_jacobian_column (MCMCArticulatedBodyJointPtr joint, const Vector3 &point)
MatrixNNPtr	calc_jacobian_floating_base (const VectorN &point)
virtual std::list< RigidBodyPtr >	get_rigid_bodies () const
	Virtual method for getting all of the rigid bodies (links) that comprise this articulated body.
virtual void	reset_accumulators ()
	Method for resetting the force and torque accumulators on all links.
virtual std::list< sorted_pair< RigidBodyPtr > >	get_adjacent_links () const
	Virtual method for getting each pair of adjacent links in the body.
void	add_joint (MCArticulatedBodyJointPtr joint)
void	set_joints (const std::vector< MCArticulatedBodyJointPtr > joints)
void	update_link_transforms () const
void	update_link_velocities ()
void	apply_impulse (const Vector3 &j, const Vector3 &k, const Vector3 &contact_point, MCArticulatedBodyLinkPtr link)
virtual void	compile ()
	Method for "compiling" the body (if necessary).
virtual void	calc_fwd_dyn ()
	Forces a recalculation of forward dynamics.
virtual void	update_visualization ()
	Updates the visualization using the appropriate transform.
virtual void	load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml().
virtual void	save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const
	Implements Base::save_to_xml().
MCArticulatedBodyPtr	get_this ()
MCArticulatedBodyConstPtr	get_this () const
virtual bool	joint_limit_collision (Real collision_tolerance) const
	Abstract method for determining whether or not there is a collision at the joint-limit.
virtual void	correct_joint_limit_collisions (Real collision_tolerance)
	Abstract method for correcting joint limit collisions.
virtual void	correct_joint_limit_violations ()
	Abstract method for correcting joint limit violations.
const std::vector< MCArticulatedBodyLinkPtr > &	get_links () const
	Gets the list of links; ordering is irrelevant.
const std::vector< MCArticulatedBodyJointPtr > &	get_joints () const
	Gets the list of joints; ordering is irrelevant.

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Detailed Description

Defines an articulated body simulated using maximal coordinate methods.

Maximal-coordinate methods are generally inferior to reduced-coordinate methods for simulating loop-free structures, due to increased computation requirements as well as numerical and physical stability issues that arise in correcting drift. Regardless, a maximal-coordinate formulation is often the best option for structures with kinematic loops. Physsim does not currently provide means to simulate structures with kinematic loops using reduced-coordinate methods, so a maximal-coordinate approach is necessary. For loop-free structures, both reduced and maximal-coordinate methods are feasible.

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Member Function Documentation

virtual void Physsim::MCArticulatedBody::update_visualization

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[virtual]

Updates the visualization using the appropriate transform.

Note:

in contrast to set_visualization_transform(), this method actually sets the transform in the scenegraph, thereby updating the display.

derived classes may override this method to set the transform right before it is updated, if desired

See also:

set_visualization_transform()

Reimplemented from Physsim::Visualizable.

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

• /home/drumwrig/Physsim/include/Physsim/MCArticulatedBody.h

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