taoDNode Class Reference
[Dynamics]

abstract node class for articulated body

This class should be used as a base class and implemented accordingly. More...

#include <taoDNode.h>

Inheritance diagram for taoDNode:

[legend]Collaboration diagram for taoDNode:

[legend]List of all members.

Public Member Functions
	taoDNode ()
virtual	~taoDNode ()
virtual void	sync (deFrame *local)=0
virtual deInt	isRoot ()
	indicates if this node is root
virtual deInt	isParentRoot ()
	indicates if parent of this node is root
virtual taoJoint *	getJointList ()=0
virtual taoABNode *	getABNode ()
	gets _abNode
virtual void	setABNode (taoABNode *node)
	sets _abNode
virtual deInt	getPropagate ()
	indicates if dynamics of node should be included for control
virtual void	setPropagate (deInt p)
virtual deVector6 *	velocity ()=0
virtual deVector6 *	acceleration ()=0
virtual deFrame *	frameHome ()=0
virtual deFrame *	frameLocal ()=0
virtual deFloat *	mass ()=0
virtual deVector3 *	center ()=0
virtual deMatrix3 *	inertia ()=0
virtual deVector6 *	force ()=0
virtual void	zeroForce ()=0
virtual void	addForce (const deVector6 *f)=0
virtual void	updateFrame ()=0
virtual void	integrate (deFloat dt)=0
virtual taoDNode *	getDParent ()=0
virtual void	setDChild (taoDNode *n)=0
virtual taoDNode *	getDChild ()=0
virtual taoDNode *	getDSibling ()=0

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Detailed Description

abstract node class for articulated body

This class should be used as a base class and implemented accordingly.

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Constructor & Destructor Documentation

taoDNode::taoDNode (   )  [inline]

virtual taoDNode::~taoDNode (   )  [inline, virtual]

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Member Function Documentation

virtual deVector6* taoDNode::acceleration (   )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::addForce (  const deVector6 *  f  )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual deVector3* taoDNode::center (   )  [pure virtual]

Returns: center of gravity in local frame Implemented in taoNode, and taoNodeRoot.

virtual deVector6* taoDNode::force (   )  [pure virtual]

Return values: fext  accumulate all external forces Implemented in taoNode, and taoNodeRoot.

virtual deFrame* taoDNode::frameHome (   )  [pure virtual]

Returns: home frame Implemented in taoNode, and taoNodeRoot.

virtual deFrame* taoDNode::frameLocal (   )  [pure virtual]

Returns: local frame Implemented in taoNode, and taoNodeRoot.

virtual taoABNode* taoDNode::getABNode (   )  [inline, virtual]

gets _abNode

virtual taoDNode* taoDNode::getDChild (   )  [pure virtual]

Returns: first child node Implemented in taoNode, and taoNodeRoot.

virtual taoDNode* taoDNode::getDParent (   )  [pure virtual]

Returns: parent node Implemented in taoNode, and taoNodeRoot.

virtual taoDNode* taoDNode::getDSibling (   )  [pure virtual]

Returns: next sibling node Implemented in taoNode, and taoNodeRoot.

virtual taoJoint* taoDNode::getJointList (   )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual deInt taoDNode::getPropagate (   )  [inline, virtual]

indicates if dynamics of node should be included for control Return values: 1  to propagate dynamics of node for control 0  not to propagate dynamics of node for control

virtual deMatrix3* taoDNode::inertia (   )  [pure virtual]

Returns: inertia tensor at the origin of local frame Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::integrate (  deFloat  dt  )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual deInt taoDNode::isParentRoot (   )  [inline, virtual]

indicates if parent of this node is root Return values: 1  parent this node is root 0  parent this node in not root

virtual deInt taoDNode::isRoot (   )  [inline, virtual]

indicates if this node is root Return values: 1  this node is root 0  this node in not root

virtual deFloat* taoDNode::mass (   )  [pure virtual]

Returns: global frame mass Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::setABNode (  taoABNode *  node  )  [inline, virtual]

sets _abNode

virtual void taoDNode::setDChild (  taoDNode *  n  )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::setPropagate (  deInt  p  )  [inline, virtual]

virtual void taoDNode::sync (  deFrame *  local  )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::updateFrame (   )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual deVector6* taoDNode::velocity (   )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

virtual void taoDNode::zeroForce (   )  [pure virtual]

Implemented in taoNode, and taoNodeRoot.

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

• taoDNode.h

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