cajun::sim_world_object_t Class Reference

#include <sim_world_object.H>

Inheritance diagram for cajun::sim_world_object_t:
cajun::dynamic_object_t cajun::mesh_object_t cajun::static_object_t cajun::non_simulated_object_t cajun::simulated_object_t

List of all members.

Public Member Functions

 sim_world_object_t ()
 sim_world_object_t (dSpaceID *world_space, object_info_t *object_data, rndf_tool_t *rndf_tool, access_data_t *m_access_data)
virtual ~sim_world_object_t ()
virtual bool update (float)=0
virtual void get_data (vector< obstacle_data_t > *&object_info, vector< obstacle_points_data_t > *&object_points_)=0
void set_robot_rotation (int body_num, dReal const rotation_matrix[16])
void get_robot_position (int part, double p[3])
void get_robot_rotation (int part, double rot[12])
void get_acceleration (int body_num_, double &x_accel_, double &y_accel_, double &z_accel_)
void get_angular_rate (int body_num_, double &x_vel_, double &y_vel_, double &z_vel_)
void get_orientation (int body_num, double &orientation_x, double &orientation_y, double &orientation_z)
void get_rotation_matrix (int body_num, double orientation_matrix[3][4], int direction)
void get_bot_position (double &x, double &y, double &z)
void set_geom_orientation (dGeomID *object, double azimuth, double elivation, double tilt)
void set_object_enable (bool enabled_)
void collided ()
int obj_id ()

Public Attributes

dBodyID m_carb [MAX_BODIES]
dGeomID m_carg [MAX_BODIES]
object_info_t m_object_data
rndf_tool_t * m_rndf_tool
access_data_t * m_access_data
double m_x_far
double m_x_close
double m_y_far
double m_y_close
double m_x_far_neg
double m_x_close_neg
double m_y_far_neg
double m_y_close_neg

Protected Attributes

timer_tm_timer
vector< obstacle_data_t > current_object_data
vector< obstacle_points_data_t > current_object_points
int m_body_part_counter
double m_currentTime
dReal * prev_vel
float x_offset
float y_offset
obstacle_data_t::obstacle_shape_t m_shape
double m_heading
double m_attitude
double m_bank
double m_x_size
double m_y_size
double m_z_size
int m_object_id
dGeomID m_geom_transform [MAX_BODIES]
dJointID m_hing [MAX_BODIES]
dSpaceID m_local_space
dJointGroupID m_hgrp
dJointID m_obstacle_joint [MAX_OBSTACLE_JOINTS]
bool m_collided

Private Attributes

orientation_t m_orientation

Constructor & Destructor Documentation

cajun::sim_world_object_t::sim_world_object_t (  ) 
sim_world_object_t::sim_world_object_t ( dSpaceID *  world_space,
object_info_t object_data,
rndf_tool_t *  rndf_tool,
access_data_t *  m_access_data 
)
sim_world_object_t::~sim_world_object_t (  )  [virtual]

References m_timer, and prev_vel.


Member Function Documentation

void cajun::sim_world_object_t::collided (  )  [inline]
void sim_world_object_t::get_acceleration ( int  body_num_,
double &  x_accel_,
double &  y_accel_,
double &  z_accel_ 
)
void sim_world_object_t::get_angular_rate ( int  body_num_,
double &  x_vel_,
double &  y_vel_,
double &  z_vel_ 
)
void sim_world_object_t::get_bot_position ( double &  x,
double &  y,
double &  z 
)
virtual void cajun::sim_world_object_t::get_data ( vector< obstacle_data_t > *&  object_info,
vector< obstacle_points_data_t > *&  object_points_ 
) [pure virtual]
void sim_world_object_t::get_orientation ( int  body_num,
double &  orientation_x,
double &  orientation_y,
double &  orientation_z 
)
void sim_world_object_t::get_robot_position ( int  part,
double  p[3] 
)

References m_carb.

Referenced by cajun::ray_sensor_t::update_position().

void sim_world_object_t::get_robot_rotation ( int  part,
double  rot[12] 
)
void sim_world_object_t::get_rotation_matrix ( int  body_num,
double  orientation_matrix[3][4],
int  direction 
)
int cajun::sim_world_object_t::obj_id (  )  [inline]
void sim_world_object_t::set_geom_orientation ( dGeomID *  object,
double  azimuth,
double  elivation,
double  tilt 
)

References cajun::tform_mult().

void sim_world_object_t::set_object_enable ( bool  enabled_  ) 

References m_carg, and MAX_BODIES.

void sim_world_object_t::set_robot_rotation ( int  body_num,
dReal const   rotation_matrix[16] 
)

References m_carb.

virtual bool cajun::sim_world_object_t::update ( float   )  [pure virtual]

Member Data Documentation

vector<obstacle_data_t> cajun::sim_world_object_t::current_object_data [protected]
vector<obstacle_points_data_t> cajun::sim_world_object_t::current_object_points [protected]
dBodyID cajun::sim_world_object_t::m_carb[MAX_BODIES]
dGeomID cajun::sim_world_object_t::m_carg[MAX_BODIES]

Referenced by sim_world_object_t().

dGeomID cajun::sim_world_object_t::m_geom_transform[MAX_BODIES] [protected]
dJointGroupID cajun::sim_world_object_t::m_hgrp [protected]
dJointID cajun::sim_world_object_t::m_hing[MAX_BODIES] [protected]
dJointID cajun::sim_world_object_t::m_obstacle_joint[MAX_OBSTACLE_JOINTS] [protected]
obstacle_data_t::obstacle_shape_t cajun::sim_world_object_t::m_shape [protected]

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

Generated on Fri Apr 9 10:45:14 2010 for simulator by  doxygen 1.6.1