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Simbody
3.3
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Simbody
3.3
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An obstacle is any significant object along the cable path – one of the end points, a via point, or a surface. More...
#include <CablePath.h>
Inheritance diagram for SimTK::CableObstacle:Classes | |
| class | Surface |
| This obstacle is a solid object represented by a ContactGeometry surface. More... | |
| class | ViaPoint |
| This is a point through which the cable must pass. More... | |
Public Member Functions | |
| CableObstacle () | |
| Create an empty obstacle handle that can refer to any type of obstacle. More... | |
| CableObstacle (CablePath &path) | |
| Insert this obstacle into the given cable path. More... | |
| CableObstacle (const CableObstacle &source) | |
| Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source. More... | |
| CableObstacle & | operator= (const CableObstacle &source) |
| Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source. More... | |
| ~CableObstacle () | |
| Destructor clears the handle, deleting the referenced object if this was the last reference. More... | |
| const Transform & | getDefaultTransform () const |
| Return the default pose X_BS of the obstacle S on its body B. More... | |
| const MobilizedBody & | getMobilizedBody () const |
| Get a reference to the Mobilized body to which this obstacle is fixed. More... | |
| const CablePath & | getCablePath () const |
| Return a reference to the CablePath in which this obstacle resides. More... | |
| CableObstacleIndex | getObstacleIndex () const |
| Return the obstacle index within this obstacle's CablePath. More... | |
| const DecorativeGeometry & | getDecorativeGeometry () const |
| Return decorative geometry that can be used to display this obstacle. More... | |
| DecorativeGeometry & | updDecorativeGeometry () |
| Obtain writable access to the decorative geometry stored with this obstacle so you can modify it. More... | |
| bool | isDisabledByDefault () const |
| Is this obstacle disabled by default? Note that this does not tell you whether it is currently disabled, just the setting that determines how it is treated when the system is first constructed. More... | |
| CableObstacle & | setDisabledByDefault (bool shouldBeDisabled) |
| Set the "disabled by default" flag. More... | |
| CableObstacle & | setDefaultTransform (const Transform &X_BS) |
| Replace the default transform for this obstacle; this is usually set in the constructor. More... | |
| CableObstacle & | setDecorativeGeometry (const DecorativeGeometry &viz) |
| Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path. More... | |
| void | clear () |
| Clear this handle, deleting the referenced object if this was the last reference. More... | |
| bool | isEmpty () const |
| See if this handle is empty. More... | |
| const Impl & | getImpl () const |
| Impl & | updImpl () |
Protected Member Functions | |
| CableObstacle (Impl *impl) | |
An obstacle is any significant object along the cable path – one of the end points, a via point, or a surface.
This is the base class that can refer to any kind of obstacles; specific types are derived from this one.
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inline |
Create an empty obstacle handle that can refer to any type of obstacle.
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explicit |
Insert this obstacle into the given cable path.
| SimTK::CableObstacle::CableObstacle | ( | const CableObstacle & | source | ) |
Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source.
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inline |
Destructor clears the handle, deleting the referenced object if this was the last reference.
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explicitprotected |
| CableObstacle& SimTK::CableObstacle::operator= | ( | const CableObstacle & | source | ) |
Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source.
| const Transform& SimTK::CableObstacle::getDefaultTransform | ( | ) | const |
Return the default pose X_BS of the obstacle S on its body B.
For a via point, the point is located at the S frame origin whose position vector in B is X_BS.p().
| const MobilizedBody& SimTK::CableObstacle::getMobilizedBody | ( | ) | const |
Get a reference to the Mobilized body to which this obstacle is fixed.
There can be multiple objects on a single body, so this is not necessarily unique within a path.
| const CablePath& SimTK::CableObstacle::getCablePath | ( | ) | const |
Return a reference to the CablePath in which this obstacle resides.
| CableObstacleIndex SimTK::CableObstacle::getObstacleIndex | ( | ) | const |
Return the obstacle index within this obstacle's CablePath.
| const DecorativeGeometry& SimTK::CableObstacle::getDecorativeGeometry | ( | ) | const |
Return decorative geometry that can be used to display this obstacle.
The decorative geometry's coordinate frame is coincident with the obstacle's coordinate frame S.
| DecorativeGeometry& SimTK::CableObstacle::updDecorativeGeometry | ( | ) |
Obtain writable access to the decorative geometry stored with this obstacle so you can modify it.
If you want to replace the decorative geometry altogether use setDecorativeGeometry().
| bool SimTK::CableObstacle::isDisabledByDefault | ( | ) | const |
Is this obstacle disabled by default? Note that this does not tell you whether it is currently disabled, just the setting that determines how it is treated when the system is first constructed.
| CableObstacle& SimTK::CableObstacle::setDisabledByDefault | ( | bool | shouldBeDisabled | ) |
Set the "disabled by default" flag.
This controls whether the obstacle is included for consideration in the cable path when the system is first constructed; it does not affect the current setting.
| CableObstacle& SimTK::CableObstacle::setDefaultTransform | ( | const Transform & | X_BS | ) |
Replace the default transform for this obstacle; this is usually set in the constructor.
| CableObstacle& SimTK::CableObstacle::setDecorativeGeometry | ( | const DecorativeGeometry & | viz | ) |
Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path.
It is up to you to make sure the geometry is actually representative of the obstacle – no one is going to check.
| void SimTK::CableObstacle::clear | ( | ) |
Clear this handle, deleting the referenced object if this was the last reference.
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See if this handle is empty.
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inline |
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inline |
1.8.6 
