sofa::component::contextobject::CoordinateSystem Class Reference
Defines the local coordinate system with respect to its parent. More...
#include <CoordinateSystem.h>
Public Types | |
| typedef core::objectmodel::BaseContext::SolidTypes | SolidTypes |
| typedef SolidTypes::Vec | Vec |
| typedef SolidTypes::Rot | Rot |
| typedef SolidTypes::Mat | Mat |
| typedef SolidTypes::Coord | Frame |
| typedef SolidTypes::Deriv | SpatialVector |
Public Member Functions | |
| CoordinateSystem () | |
| virtual | ~CoordinateSystem () |
| virtual void | apply () |
| modify the Context | |
| virtual void | draw () |
| Render internal data of this object, for debugging purposes. | |
| virtual void | reinit () |
| Update method called when variables used in precomputation are modified. | |
| virtual void | init () |
| Initialization method called at graph modification, during bottom-up traversal. | |
| const Frame & | getTransform () const |
| Transform wrt parent. | |
| virtual void | setTransform (const Frame &f) |
| Transform wrt parent. | |
| Vec | getOrigin () const |
| Transform wrt world. | |
| Rot | getOrientation () const |
| Define orientation (rotation of the child wrt parent) in parent coordinates. | |
Data Fields | |
| Data< defaulttype::Vec3f > | origin |
| Define translation and orientation in parent coordinates. | |
| Data< defaulttype::Vec3f > | orientation |
Protected Attributes | |
| Frame | positionInParent_ |
| wrt parent frame | |
Detailed Description
Defines the local coordinate system with respect to its parent.Definition at line 65 of file CoordinateSystem.h.
Member Typedef Documentation
Definition at line 72 of file CoordinateSystem.h.
Definition at line 71 of file CoordinateSystem.h.
Definition at line 70 of file CoordinateSystem.h.
| typedef core::objectmodel::BaseContext::SolidTypes sofa::component::contextobject::CoordinateSystem::SolidTypes |
Definition at line 68 of file CoordinateSystem.h.
Definition at line 73 of file CoordinateSystem.h.
Definition at line 69 of file CoordinateSystem.h.
Constructor & Destructor Documentation
| sofa::component::contextobject::CoordinateSystem::CoordinateSystem | ( | ) |
Definition at line 47 of file CoordinateSystem.cpp.
| virtual sofa::component::contextobject::CoordinateSystem::~CoordinateSystem | ( | ) | [inline, virtual] |
Definition at line 76 of file CoordinateSystem.h.
Member Function Documentation
| void sofa::component::contextobject::CoordinateSystem::apply | ( | ) | [virtual] |
modify the Context
Implements sofa::core::objectmodel::ContextObject.
Definition at line 113 of file CoordinateSystem.cpp.
References sofa::defaulttype::Vec< N, real >::cross(), sofa::defaulttype::SolidTypes< R >::SpatialVector::getAngularVelocity(), sofa::core::objectmodel::ContextObject::getContext(), sofa::defaulttype::SolidTypes< R >::SpatialVector::getLinearVelocity(), getOrigin(), sofa::core::objectmodel::BaseContext::getPositionInWorld(), getTransform(), sofa::core::objectmodel::BaseContext::getVelocityBasedLinearAccelerationInWorld(), sofa::core::objectmodel::BaseContext::getVelocityInWorld(), sofa::defaulttype::SolidTypes< R >::Transform::projectVector(), sofa::core::objectmodel::BaseContext::setPositionInWorld(), sofa::core::objectmodel::BaseContext::setVelocityBasedLinearAccelerationInWorld(), and sofa::core::objectmodel::BaseContext::setVelocityInWorld().
| void sofa::component::contextobject::CoordinateSystem::draw | ( | ) | [virtual] |
Render internal data of this object, for debugging purposes.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 151 of file CoordinateSystem.cpp.
| CoordinateSystem::Rot sofa::component::contextobject::CoordinateSystem::getOrientation | ( | void | ) | const |
Define orientation (rotation of the child wrt parent) in parent coordinates.
Orientation (rotation of the child wrt parent)
Definition at line 87 of file CoordinateSystem.cpp.
References sofa::defaulttype::SolidTypes< R >::Transform::getOrientation(), and positionInParent_.
| CoordinateSystem::Vec sofa::component::contextobject::CoordinateSystem::getOrigin | ( | ) | const |
Transform wrt world.
Define translation in parent coordinates Translation in parent coordinates
Definition at line 76 of file CoordinateSystem.cpp.
References sofa::defaulttype::SolidTypes< R >::Transform::getOrigin(), and positionInParent_.
Referenced by apply().
| const CoordinateSystem::Frame & sofa::component::contextobject::CoordinateSystem::getTransform | ( | ) | const |
Transform wrt parent.
Definition at line 60 of file CoordinateSystem.cpp.
References positionInParent_.
Referenced by apply().
| void sofa::component::contextobject::CoordinateSystem::init | ( | void | ) | [virtual] |
Initialization method called at graph modification, during bottom-up traversal.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 184 of file CoordinateSystem.cpp.
References reinit().
| void sofa::component::contextobject::CoordinateSystem::reinit | ( | ) | [virtual] |
Update method called when variables used in precomputation are modified.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 175 of file CoordinateSystem.cpp.
References sofa::helper::Quater< Real >::createFromRotationVector(), orientation, origin, and setTransform().
Referenced by init().
| void sofa::component::contextobject::CoordinateSystem::setTransform | ( | const Frame & | f | ) | [virtual] |
Transform wrt parent.
Definition at line 65 of file CoordinateSystem.cpp.
References positionInParent_.
Referenced by reinit().
Field Documentation
Define translation and orientation in parent coordinates.
wrt world, given in world coordinates wrt parent frame, given in LOCAL frame wrt parent frame, given in LOCAL frame
Definition at line 112 of file CoordinateSystem.h.
Referenced by reinit().
wrt parent frame
Definition at line 115 of file CoordinateSystem.h.
Referenced by getOrientation(), getOrigin(), getTransform(), and setTransform().
The documentation for this class was generated from the following files:
- modules/sofa/component/contextobject/CoordinateSystem.h
- modules/sofa/component/contextobject/CoordinateSystem.cpp
