MultiBody Class Reference

Public Member Functions
Construction
	MultiBody (const MultiBody::Type _type)
	MultiBody (XMLNode &_node)
	Parse a multibody from an XML node.
	MultiBody (const MultiBody &)
	Copy.
	MultiBody (MultiBody &&)
	Move.
	~MultiBody ()
void	InitializeDOFs (const Boundary *const _b)
Assignment
MultiBody &	operator= (const MultiBody &)
	Copy.
MultiBody &	operator= (MultiBody &&)
	Move.
MultiBody Properties
MultiBody::Type	GetType () const noexcept
	Get the type for this MultiBody.
bool	IsActive () const noexcept
	Is this MultiBody an active type?
bool	IsPassive () const noexcept
	Is this MultiBody a non-active type?
bool	IsInternal () const noexcept
	Is this MultiBody an internal type?
bool	IsComposite () const noexcept
size_t	DOF () const noexcept
	Get the number of DOF for this multibody.
size_t	PosDOF () const noexcept
	Get the number of positional DOF for this multibody's base.
size_t	OrientationDOF () const noexcept
	Get the number of orientational DOF for this multibody's base.
size_t	JointDOF () const noexcept
	Get the number of joint DOF for this multibody.
const std::vector< double > &	GetCurrentDOFs () const noexcept
	Get the current DOFs for this configuration, as set by Configure().
std::vector< double >	GetCurrentCfg () noexcept
	Get the current configuration dofs (no velocity), as set by Configure().
Body Accessors
size_t	GetNumBodies () const noexcept
	Get the number of bodies in this multibody.
const std::vector< Body > &	GetBodies () const noexcept
	Get all of the internal bodies.
std::vector< const Body * >	GetEndEffectors () const noexcept
Body *	GetBody (const size_t _i) noexcept
const Body *	GetBody (const size_t _i) const noexcept
size_t	AddBody (Body &&_body)
Body *	GetBase () noexcept
	Get the base body.
const Body *	GetBase () const noexcept
void	SetBaseBody (const size_t _index)
Body::Type	GetBaseType () const noexcept
	Get the body type of the base body.
Body::MovementType	GetBaseMovementType () const noexcept
	Get the movement type of the base body.
Geometric Properties
const Vector3d &	GetCenterOfMass () const noexcept
	Get the center of mass.
double	GetBoundingSphereRadius () const noexcept
	Get the bounding sphere radius.
Connections
const std::vector< std::unique_ptr< Connection > > &	GetJoints () const noexcept
	Get the Connections in this multibody.
Connection *	GetJoint (const size_t _i) noexcept
const DofType &	GetDOFType (const size_t _i) const noexcept
	Get the DOF type for a specific degree of freedom.
const std::vector< DofInfo > &	GetDofInfo () const noexcept
	Get the DOF info for a specific degree of freedom.
void	UpdateJointLimits () noexcept
Configuration Methods
void	Configure (const Cfg &_c)
void	Configure (const std::vector< double > &_v)
void	PushToNearestValidConfiguration ()
I/O
void	Read (std::istream &_is, CountingStreamBuffer &_cbs)
void	Write (std::ostream &_os) const

Public Types
Local Types
enum class	Type { Active , Passive , Internal }
	The types of MultiBody that we can support. More...

Detailed Description

A geometric object in workspace (such as an obstacle or robot) with one or more sub-components, referred to as Bodies.

Member Enumeration Documentation

Type

enum class MultiBody::Type

strong

The types of MultiBody that we can support.

Enumerator
Active	Movable object.
Passive	Static visible object.
Internal	Static invisible object.

Constructor & Destructor Documentation

MultiBody()

MultiBody::MultiBody

(

const MultiBody::Type

_type

)

Construct a multibody.

Parameters

_type

The multibody type.

Member Function Documentation

InitializeDOFs()

void MultiBody::InitializeDOFs

(

const Boundary *const

_b

)

Initialize the DOF information for this multibody.

Parameters

_b	The Boundary for DOF ranges.

IsComposite()

bool MultiBody::IsComposite ( ) const

noexcept

Is this MultiBody a composite body, i.e. having multiple decoupled bases? This is now ONLY used to check if an old version of disassembly planning problem modeling is used! Composite C-Space that conforms to this check is now depricated, and Group configurations should be used.

GetEndEffectors()

std::vector< const Body * > MultiBody::GetEndEffectors ( ) const

noexcept

Get the set of bodies which are end-effectors (i.e., have no forward connections).

GetBody()

Body * MultiBody::GetBody ( const size_t  _i )

noexcept

Get an internal body.

Parameters

_i	The index of the body.

AddBody()

size_t MultiBody::AddBody

(

Body &&

_body

)

Add a body.

Parameters

_body

The body to add.

Returns

The index of the added body.

SetBaseBody()

void MultiBody::SetBaseBody

(

const size_t

_index

)

Set the base body.

Parameters

_index

The index of the body to use as the base.

GetJoint()

Connection * MultiBody::GetJoint ( const size_t  _i )

noexcept

Get a specific Connection.

Parameters

_i	The connection index.

UpdateJointLimits()

void MultiBody::UpdateJointLimits ( )

noexcept

Update the DOF info from the current values in the connection objects. @TODO Fix this so that we do not double-store the limits both here and in connection.

Configure() [1/2]

void MultiBody::Configure

(

const Cfg &

_c

)

Place a robot at a given configuration.

Parameters

_c	The configuration to use.

Configure() [2/2]

void MultiBody::Configure

(

const std::vector< double > &

_v

)

Place a robot at a given configuration.

Parameters

_v	The DOF values to use.

PushToNearestValidConfiguration()

void MultiBody::PushToNearestValidConfiguration

(

)

Check if the DOF values are out-of-range. If so, push them to the nearest acceptable configuration and reconfigure the model.

Note

In this context, 'valid' means with respect to the joint limits only. It does not consider collisions or any other validity.

Read()

void MultiBody::Read	(	std::istream &	_is,
		CountingStreamBuffer &	_cbs
	)

Read a MultiBody from an input stream and compute information.

Parameters

_is	The input stream to read from.
_cbs	Counting stream buffer

Write()

void MultiBody::Write

(

std::ostream &

_os

)

const

Write the MultiBody to an output stream.

Parameters

_os	The output stream to write to.

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

• MultiBody.h
• MultiBody.cpp