taoNodeRoot Class Reference
[Dynamics]

root node class for articulated body dynamics

This implements taoDNode for root node of a articulated body tree structure. More...

#include <taoNode.h>

Inheritance diagram for taoNodeRoot:

[legend]Collaboration diagram for taoNodeRoot:

[legend]List of all members.

Public Member Functions
	taoNodeRoot (deFrame *global)
virtual	~taoNodeRoot ()
virtual void	sync (deFrame *local)
virtual taoJoint *	getJointList ()
virtual deVector6 *	velocity ()
virtual deVector6 *	acceleration ()
virtual void	getFrameGraphics (deFrame *Tog)
	global frame for graphics display
virtual deFrame *	frameHome ()
virtual deFrame *	frameLocal ()
virtual deFrame *	frameGlobal ()
	global frame for the dynamics computation
virtual deFloat *	mass ()
virtual deVector3 *	center ()
virtual deMatrix3 *	inertia ()
virtual deVector6 *	force ()
virtual void	zeroForce ()
virtual void	addForce (const deVector6 *f)
virtual void	updateFrame ()
virtual void	integrate (deFloat dt)
virtual taoDNode *	getDParent ()
virtual void	setDChild (taoDNode *n)
virtual taoDNode *	getDChild ()
virtual taoDNode *	getDSibling ()
void	setNext (taoNodeRoot *r)
taoNodeRoot *	getNext ()
void	setGroup (taoGroup *g)
taoGroup *	getGroup ()
void	setController (taoControl *c)
taoControl *	getController ()
virtual void	sync ()

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Detailed Description

root node class for articulated body dynamics

This implements taoDNode for root node of a articulated body tree structure.

See also:

taoCNode, taoDNode, taoDynamics, taoControl

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Constructor & Destructor Documentation

taoNodeRoot::taoNodeRoot (  deFrame *  global  )

taoNodeRoot::~taoNodeRoot (   )  [virtual]

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Member Function Documentation

deVector6 * taoNodeRoot::acceleration (   )  [virtual]

Implements taoDNode.

virtual void taoNodeRoot::addForce (  const deVector6 *  f  )  [inline, virtual]

Implements taoDNode.

virtual deVector3* taoNodeRoot::center (   )  [inline, virtual]

Returns: center of gravity in local frame Implements taoDNode.

virtual deVector6* taoNodeRoot::force (   )  [inline, virtual]

Return values: fext  accumulate all external forces Implements taoDNode.

virtual deFrame* taoNodeRoot::frameGlobal (   )  [inline, virtual]

global frame for the dynamics computation Note: for taoNodeRB, this is the center of mass frame. for taoNode, this is the same frame getFrameGraphics() Implements taoCNode.

virtual deFrame* taoNodeRoot::frameHome (   )  [inline, virtual]

Returns: home frame Implements taoDNode.

virtual deFrame* taoNodeRoot::frameLocal (   )  [inline, virtual]

Returns: local frame Implements taoDNode.

taoControl* taoNodeRoot::getController (   )  [inline]

virtual taoDNode* taoNodeRoot::getDChild (   )  [inline, virtual]

Returns: first child node Implements taoDNode.

virtual taoDNode* taoNodeRoot::getDParent (   )  [inline, virtual]

Returns: parent node Implements taoDNode.

virtual taoDNode* taoNodeRoot::getDSibling (   )  [inline, virtual]

Returns: next sibling node Implements taoDNode.

virtual void taoNodeRoot::getFrameGraphics (  deFrame *  Tog  )  [inline, virtual]

global frame for graphics display Note: for taoNodeRB, this is the graphics origin frame without the offset. for taoNodeRB, setFrameGraphics() should be used to set this frame. for taoNode, this is the same frame as frameGlobal() Return values: Fg  is filled with the frame info for graphics sync. Implements taoCNode.

taoGroup* taoNodeRoot::getGroup (   )  [inline]

virtual taoJoint* taoNodeRoot::getJointList (   )  [inline, virtual]

Implements taoDNode.

taoNodeRoot* taoNodeRoot::getNext (   )  [inline]

virtual deMatrix3* taoNodeRoot::inertia (   )  [inline, virtual]

Returns: inertia tensor at the origin of local frame Implements taoDNode.

virtual void taoNodeRoot::integrate (  deFloat  dt  )  [inline, virtual]

Implements taoDNode.

virtual deFloat* taoNodeRoot::mass (   )  [inline, virtual]

Returns: global frame mass Implements taoDNode.

void taoNodeRoot::setController (  taoControl *  c  )  [inline]

virtual void taoNodeRoot::setDChild (  taoDNode *  n  )  [inline, virtual]

Implements taoDNode.

void taoNodeRoot::setGroup (  taoGroup *  g  )  [inline]

void taoNodeRoot::setNext (  taoNodeRoot *  r  )  [inline]

void taoNodeRoot::sync (   )  [virtual]

Remarks: node->home = node->local; joint var = zero;

virtual void taoNodeRoot::sync (  deFrame *  local  )  [inline, virtual]

Implements taoDNode.

virtual void taoNodeRoot::updateFrame (   )  [inline, virtual]

Implements taoDNode.

deVector6 * taoNodeRoot::velocity (   )  [virtual]

Implements taoDNode.

virtual void taoNodeRoot::zeroForce (   )  [inline, virtual]

Implements taoDNode.

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

• taoNode.h
• taoNode.cpp

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