RayShape Class Reference

Base class for Ray collision geometry. More...

#include <physics/physics.hh>

Inherits Shape.

Inherited by BulletRayShape, DARTRayShape, ODERayShape, and SimbodyRayShape.

Public Types
enum	EntityType {   BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,   COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,   JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,   SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000,   FIXED_JOINT = 0x00004000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000,   HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000,   PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000,   SENSOR_COLLISION = 0x10000000 }
	Unique identifiers for all entity types. More...

Public Member Functions
	RayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a global ray. More...
	RayShape (CollisionPtr _parent)
	Constructor. More...
virtual	~RayShape ()
	Destructor. More...
void	AddChild (BasePtr _child)
	Add a child to this entity. More...
void	AddType (EntityType _type)
	Add a type specifier. More...
virtual double	ComputeVolume () const
	Documentation inherited. More...
void	FillMsg (msgs::Geometry &_msg)
	Fill a message with data from this object. More...
virtual void	Fini ()
	Finialize the object. More...
BasePtr	GetByName (const std::string &_name)
	Get by name. More...
BasePtr	GetChild (unsigned int _i) const
	Get a child by index. More...
BasePtr	GetChild (const std::string &_name)
	Get a child by name. More...
unsigned int	GetChildCount () const
	Get the number of children. More...
int	GetFiducial () const
	Get the fiducial id detected by this ray. More...
virtual void	GetGlobalPoints (math::Vector3 &_posA, math::Vector3 &_posB)
	Get the global starting and ending points. More...
uint32_t	GetId () const
	Return the ID of this entity. More...
virtual void	GetIntersection (double &_dist, std::string &_entity)=0
	Get the nearest intersection. More...
double	GetLength () const
	Get the length of the ray. More...
std::string	GetName () const
	Return the name of the entity. More...
BasePtr	GetParent () const
	Get the parent. More...
int	GetParentId () const
	Return the ID of the parent. More...
virtual void	GetRelativePoints (math::Vector3 &_posA, math::Vector3 &_posB)
	Get the relative starting and ending points. More...
float	GetRetro () const
	Get the retro-reflectivness detected by this ray. More...
bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml. More...
virtual math::Vector3	GetScale () const
	Get the scale of the shape. More...
std::string	GetScopedName (bool _prependWorldName=false) const
	Return the name of this entity with the model scope model1::...::modelN::entityName. More...
virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the object. More...
unsigned int	GetType () const
	Get the full type definition. More...
const WorldPtr &	GetWorld () const
	Get the World this object is in. More...
bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type. More...
virtual void	Init ()
	In the ray. More...
bool	IsSelected () const
	True if the entity is selected by the user. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load. More...
bool	operator== (const Base &_ent) const
	Returns true if the entities are the same. More...
void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...
virtual void	ProcessMsg (const msgs::Geometry &_msg)
	Update this shape from a message. More...
virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity. More...
void	RemoveChild (const std::string &_name)
	Remove a child by name. More...
void	RemoveChild (physics::BasePtr _child)
	Remove a child by pointer. More...
void	RemoveChildren ()
	Remove all children. More...
virtual void	Reset ()
	Reset the object. More...
virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. More...
void	SetFiducial (int _fid)
	Set the fiducial id detected by this ray. More...
virtual void	SetLength (double _len)
	Set the length of the ray. More...
virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...
void	SetParent (BasePtr _parent)
	Set the parent. More...
virtual void	SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd)
	Set the ray based on starting and ending points relative to the body. More...
void	SetRetro (float _retro)
	Set the retro-reflectivness detected by this ray. More...
void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml. More...
virtual void	SetScale (const math::Vector3 &_scale)
	Set the scale of the ray. More...
virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui. More...
void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to. More...
virtual void	Update ()=0
	Update the ray collision. More...
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Protected Attributes
Base_V	children
	Children of this entity. More...
CollisionPtr	collisionParent
	This shape's collision parent. More...
int	contactFiducial
	Fiducial ID value. More...
double	contactLen
	Length of the ray. More...
double	contactRetro
	Retro reflectance value. More...
math::Vector3	globalEndPos
	End position of the ray in global cs. More...
math::Vector3	globalStartPos
	Start position of the ray in global cs. More...
BasePtr	parent
	Parent of this entity. More...
math::Vector3	relativeEndPos
	End position of the ray, relative to the body. More...
math::Vector3	relativeStartPos
	Start position of the ray, relative to the body. More...
math::Vector3	scale
	This shape's scale;. More...
sdf::ElementPtr	sdf
	The SDF values for this object. More...
WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for Ray collision geometry.

Member Enumeration Documentation

EntityType

enum EntityType

inherited

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
ACTOR	Actor type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
FIXED_JOINT	FixedJoint type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

RayShape() [1/2]

RayShape ( PhysicsEnginePtr  _physicsEngine )

explicit

Constructor for a global ray.

Parameters

[in]

_physicsEngine

Pointer to the physics engine.

RayShape() [2/2]

RayShape ( CollisionPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Collision parent of the shape.

~RayShape()

virtual ~RayShape ( )

virtual

Destructor.

Member Function Documentation

AddChild()

void AddChild ( BasePtr  _child )

inherited

Add a child to this entity.

Parameters

[in]

_child

Child entity.

Referenced by Base::Update().

AddType()

void AddType ( EntityType  _type )

inherited

Add a type specifier.

Parameters

[in]

_type

New type to append to this objects type definition.

Referenced by Base::Update().

ComputeScopedName()

void ComputeScopedName ( )

protectedinherited

Compute the scoped name of this object based on its parents.

See also

Base::GetScopedName

Referenced by Base::Update().

ComputeVolume()

virtual double ComputeVolume ( ) const

virtual

Documentation inherited.

Reimplemented from Shape.

FillMsg()

void FillMsg ( msgs::Geometry &  _msg )

virtual

Fill a message with data from this object.

Parameters

[out]

_msg

Message to fill. Implement this function.

Implements Shape.

Fini()

virtual void Fini ( )

virtualinherited

Finialize the object.

Reimplemented in Joint, Actor, Link, Model, Entity, DARTModel, ODEJoint, BulletLink, Road, DARTCollision, DARTLink, ODECollision, Collision, SimbodyLink, BulletJoint, and ODELink.

GetByName()

BasePtr GetByName ( const std::string &  _name )

inherited

Get by name.

Parameters

[in]

_name

Get a child (or self) object by name

Returns

A pointer to the object, NULL if not found

Referenced by Base::Update().

GetChild() [1/2]

BasePtr GetChild ( unsigned int  _i ) const

inherited

Get a child by index.

Parameters

[in]

_i

Index of the child to retreive.

Returns

A pointer to the object, NULL if the index is invalid.

Referenced by Base::Update().

GetChild() [2/2]

BasePtr GetChild ( const std::string &  _name )

inherited

Get a child by name.

Parameters

[in]

_name

Name of the child.

Returns

A pointer to the object, NULL if not found

GetChildCount()

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns

The number of children.

Referenced by Base::Update().

GetFiducial()

int GetFiducial

(

)

const

Get the fiducial id detected by this ray.

Returns

Fiducial id detected.

GetGlobalPoints()

virtual void GetGlobalPoints ( math::Vector3 &  _posA, math::Vector3 &  _posB  )

virtual

Get the global starting and ending points.

Parameters

[out]	_posA	Returns the starting point.
[out]	_posB	Returns the ending point.

GetId()

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns

Integer ID.

Referenced by Base::Update().

GetIntersection()

virtual void GetIntersection ( double &  _dist, std::string &  _entity  )

pure virtual

Get the nearest intersection.

Parameters

[out]	_dist	Distance to the intersection.
[out]	_entity	Name of the entity the ray intersected with.

Implemented in DARTRayShape, ODERayShape, BulletRayShape, and SimbodyRayShape.

GetLength()

double GetLength

(

)

const

Get the length of the ray.

Returns

The ray length.

GetName()

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns

Name of the entity.

Referenced by Base::Update().

GetParent()

BasePtr GetParent ( ) const

inherited

Get the parent.

Returns

Pointer to the parent entity.

Referenced by Base::Update().

GetParentId()

int GetParentId ( ) const

inherited

Return the ID of the parent.

Returns

Integer ID.

Referenced by Base::Update().

GetRelativePoints()

virtual void GetRelativePoints ( math::Vector3 &  _posA, math::Vector3 &  _posB  )

virtual

Get the relative starting and ending points.

Parameters

[in]	_posA	Returns the starting point.
[in]	_posB	Returns the ending point.

GetRetro()

float GetRetro

(

)

const

Get the retro-reflectivness detected by this ray.

Returns

Retro reflectance value.

GetSaveable()

bool GetSaveable ( ) const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns

True if the object is saveable.

Referenced by Base::Update().

GetScale()

virtual math::Vector3 GetScale ( ) const

virtualinherited

Get the scale of the shape.

Returns

Scale of the shape.

Reimplemented in MapShape.

GetScopedName()

std::string GetScopedName ( bool  _prependWorldName = false ) const

inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in]

_prependWorldName

True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns

The scoped name.

Referenced by Base::Update().

GetSDF()

virtual const sdf::ElementPtr GetSDF ( )

virtualinherited

Get the SDF values for the object.

Returns

The SDF values for the object.

Reimplemented in Actor, and Model.

Referenced by Base::Update().

GetType()

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns

The full type definition.

Referenced by Base::Update().

GetWorld()

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns

The World this object is part of.

Referenced by Base::Update().

HasType()

bool HasType ( const EntityType &  _t ) const

inherited

Returns true if this object's type definition has the given type.

Parameters

[in]

_t

Type to check.

Returns

True if this object's type definition has the.

Referenced by Base::Update().

Init()

virtual void Init ( )

virtual

In the ray.

Implements Shape.

IsSelected()

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns

True if the entity is selected.

Referenced by Base::Update().

Load()

virtual void Load ( sdf::ElementPtr  _sdf )

virtualinherited

Load.

Parameters

[in]

node

Pointer to an SDF parameters

Reimplemented in Joint, Actor, Link, Entity, SimbodySliderJoint, Model, BulletCollision, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, MapShape, GearboxJoint< ODEJoint >, HeightmapShape, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, Collision, ODEJoint, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletScrewJoint, BulletHinge2Joint, ODECollision, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, BulletLink, DARTJoint, ODEHinge2Joint, ODEHingeJoint, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletBallJoint, BulletJoint, DARTModel, Road, SimbodyCollision, SimbodyFixedJoint, DARTCollision, DARTLink, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletFixedJoint, BulletHingeJoint, BulletSliderJoint, BulletUniversalJoint, ODEGearboxJoint, ODESliderJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyLink, SimbodyUniversalJoint, ODEFixedJoint, ODELink, SimbodyScrewJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, SimbodyJoint, DARTMeshShape, DARTScrewJoint, DARTPolylineShape, DARTUniversalJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

operator==()

bool operator== ( const Base &  _ent ) const

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

[in]

_ent

Base object to compare with.

Returns

True if the entities are the same.

Referenced by Base::Update().

Print()

void Print ( const std::string &  _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in]

_prefix

Usually a set of spaces.

Referenced by Base::Update().

ProcessMsg()

virtual void ProcessMsg ( const msgs::Geometry &  _msg )

virtual

Update this shape from a message.

Parameters

[in]

_msg

Message to update from. Implement this function.

Implements Shape.

RemoveChild() [1/3]

virtual void RemoveChild ( unsigned int  _id )

virtualinherited

Remove a child from this entity.

Parameters

[in]

_id

ID of the child to remove.

Referenced by Base::Update().

RemoveChild() [2/3]

void RemoveChild ( const std::string &  _name )

inherited

Remove a child by name.

Parameters

[in]

_name

Name of the child.

RemoveChild() [3/3]

void RemoveChild ( physics::BasePtr  _child )

inherited

Remove a child by pointer.

Parameters

[in]

_child

Pointer to the child.

RemoveChildren()

void RemoveChildren ( )

inherited

Remove all children.

Referenced by Base::Update().

Reset() [1/2]

virtual void Reset ( )

virtualinherited

Reset the object.

Reimplemented in Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

Referenced by Base::Init().

Reset() [2/2]

virtual void Reset ( Base::EntityType  _resetType )

virtualinherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in]

_resetType

The type of reset operation

SetFiducial()

void SetFiducial

(

int

_fid

)

Set the fiducial id detected by this ray.

Parameters

[in]

_fid

Fiducial id detected by this ray.

SetLength()

virtual void SetLength ( double  _len )

virtual

Set the length of the ray.

Parameters

[in]

_len

Length of the array.

SetName()

virtual void SetName ( const std::string &  _name )

virtualinherited

Set the name of the entity.

Parameters

[in]

_name

New name.

Reimplemented in Entity.

Referenced by Base::Update().

SetParent()

void SetParent ( BasePtr  _parent )

inherited

Set the parent.

Parameters

[in]

_parent

Parent object.

Referenced by Base::Update().

SetPoints()

virtual void SetPoints ( const math::Vector3 &  _posStart, const math::Vector3 &  _posEnd  )

virtual

Set the ray based on starting and ending points relative to the body.

Parameters

[in]	_posStart	Start position, relative the body.
[in]	_posEnd	End position, relative to the body.

Reimplemented in DARTRayShape, ODERayShape, BulletRayShape, and SimbodyRayShape.

SetRetro()

void SetRetro

(

float

_retro

)

Set the retro-reflectivness detected by this ray.

Parameters

[in]

_retro

Retro reflectance value.

SetSaveable()

void SetSaveable ( bool  _v )

inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in]

_v

Set to True if the object should be saved.

Referenced by Base::Update().

SetScale()

virtual void SetScale ( const math::Vector3 &  _scale )

virtual

Set the scale of the ray.

Implements Shape.

SetSelected()

virtual bool SetSelected ( bool  _show )

virtualinherited

Set whether this entity has been selected by the user through the gui.

Parameters

[in]

_show

True to set this entity as selected.

Reimplemented in Link.

Referenced by Base::Update().

SetWorld()

void SetWorld ( const WorldPtr &  _newWorld )

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in]

_newWorld

The new World this object is part of.

Referenced by Base::Update().

Update()

virtual void Update ( )

pure virtual

Update the ray collision.

Reimplemented from Base.

Implemented in DARTRayShape, ODERayShape, BulletRayShape, and SimbodyRayShape.

UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr  _sdf )

virtualinherited

Update the parameters using new sdf values.

Parameters

[in]

_sdf

Update the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

Referenced by Base::Update().

Member Data Documentation

children

Base_V children

protectedinherited

Children of this entity.

collisionParent

CollisionPtr collisionParent

protectedinherited

This shape's collision parent.

Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), ODECylinderShape::SetSize(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), and BulletCylinderShape::SetSize().

contactFiducial

int contactFiducial

protected

Fiducial ID value.

contactLen

double contactLen

protected

Length of the ray.

contactRetro

double contactRetro

protected

Retro reflectance value.

globalEndPos

math::Vector3 globalEndPos

protected

End position of the ray in global cs.

globalStartPos

math::Vector3 globalStartPos

protected

Start position of the ray in global cs.

parent

BasePtr parent

protectedinherited

Parent of this entity.

relativeEndPos

math::Vector3 relativeEndPos

protected

End position of the ray, relative to the body.

relativeStartPos

math::Vector3 relativeStartPos

protected

Start position of the ray, relative to the body.

scale

math::Vector3 scale

protectedinherited

This shape's scale;.

sdf

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

world

WorldPtr world

protectedinherited

Pointer to the world.

---

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

• RayShape.hh