Interface class for the physical layer. More...

#include <NodeInterface.h>

Public Member Functions
virtual	~NodeInterface ()

virtual bool	createNode (NodeData *node)=0

virtual void	getPosition (utils::Vector *pos) const =0

virtual const utils::Vector	setPosition (const utils::Vector &pos, bool move_group)=0

virtual void	getRotation (utils::Quaternion *q) const =0

virtual const utils::Quaternion	setRotation (const utils::Quaternion &q, bool move_group)=0

virtual void	getLinearVelocity (utils::Vector *vel) const =0

virtual void	getAngularVelocity (utils::Vector *vel) const =0

virtual void	getForce (utils::Vector *f) const =0

virtual void	getTorque (utils::Vector *t) const =0

virtual void	setWorldObject (PhysicsInterface *world)=0

virtual const utils::Vector	rotateAtPoint (const utils::Vector &rotation_point, const utils::Quaternion &rotation, bool move_group)=0

virtual bool	changeNode (NodeData *node)=0

virtual void	setLinearVelocity (const utils::Vector &velocity)=0

virtual void	setAngularVelocity (const utils::Vector &velocity)=0

virtual void	setForce (const utils::Vector &f)=0

virtual void	setTorque (const utils::Vector &t)=0

virtual void	addForce (const utils::Vector &f, const utils::Vector &p)=0

virtual void	addForce (const utils::Vector &f)=0

virtual void	addTorque (const utils::Vector &t)=0

virtual bool	getGroundContact (void) const =0

virtual void	getContactPoints (std::vector< utils::Vector > *contact_points) const =0

virtual void	getContactIDs (std::list< interfaces::NodeId > *ids) const =0

virtual sReal	getGroundContactForce (void) const =0

virtual void	setContactParams (contact_params &c_params)=0

virtual void	addSensor (BaseSensor *s_cfg)=0

virtual void	removeSensor (BaseSensor *s_cfg)=0

virtual void	handleSensorData (bool physics_thread=true)=0

virtual void	destroyNode (void)=0

virtual void	getMass (sReal mass, sReal inertia=0) const =0

virtual const utils::Vector	getContactForce (void) const =0

virtual sReal	getCollisionDepth (void) const =0

Detailed Description

Interface class for the physical layer.

Definition at line 48 of file NodeInterface.h.

Constructor & Destructor Documentation

◆ ~NodeInterface()

virtual mars::interfaces::NodeInterface::~NodeInterface ( )

inlinevirtual

Definition at line 50 of file NodeInterface.h.

Member Function Documentation

◆ addForce() [1/2]

virtual void mars::interfaces::NodeInterface::addForce	(	const utils::Vector &	f,
		const utils::Vector &	p
	)

pure virtual

Implemented in mars::sim::NodePhysics.

◆ addForce() [2/2]

virtual void mars::interfaces::NodeInterface::addForce ( const utils::Vector & f )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ addSensor()

virtual void mars::interfaces::NodeInterface::addSensor ( BaseSensor * s_cfg )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ addTorque()

virtual void mars::interfaces::NodeInterface::addTorque ( const utils::Vector & t )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ changeNode()

virtual bool mars::interfaces::NodeInterface::changeNode ( NodeData * node )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ createNode()

virtual bool mars::interfaces::NodeInterface::createNode ( NodeData * node )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ destroyNode()

virtual void mars::interfaces::NodeInterface::destroyNode ( void )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getAngularVelocity()

virtual void mars::interfaces::NodeInterface::getAngularVelocity ( utils::Vector * vel ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getCollisionDepth()

virtual sReal mars::interfaces::NodeInterface::getCollisionDepth ( void ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getContactForce()

virtual const utils::Vector mars::interfaces::NodeInterface::getContactForce ( void ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getContactIDs()

virtual void mars::interfaces::NodeInterface::getContactIDs ( std::list< interfaces::NodeId > * ids ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getContactPoints()

virtual void mars::interfaces::NodeInterface::getContactPoints ( std::vector< utils::Vector > * contact_points ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getForce()

virtual void mars::interfaces::NodeInterface::getForce ( utils::Vector * f ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getGroundContact()

virtual bool mars::interfaces::NodeInterface::getGroundContact ( void ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getGroundContactForce()

virtual sReal mars::interfaces::NodeInterface::getGroundContactForce ( void ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getLinearVelocity()

virtual void mars::interfaces::NodeInterface::getLinearVelocity ( utils::Vector * vel ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getMass()

virtual void mars::interfaces::NodeInterface::getMass	(	sReal *	mass,
		sReal *	inertia = `0`
	)		const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getPosition()

virtual void mars::interfaces::NodeInterface::getPosition ( utils::Vector * pos ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getRotation()

virtual void mars::interfaces::NodeInterface::getRotation ( utils::Quaternion * q ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ getTorque()

virtual void mars::interfaces::NodeInterface::getTorque ( utils::Vector * t ) const

pure virtual

Implemented in mars::sim::NodePhysics.

◆ handleSensorData()

virtual void mars::interfaces::NodeInterface::handleSensorData ( bool physics_thread = true )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ removeSensor()

virtual void mars::interfaces::NodeInterface::removeSensor ( BaseSensor * s_cfg )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ rotateAtPoint()

virtual const utils::Vector mars::interfaces::NodeInterface::rotateAtPoint	(	const utils::Vector &	rotation_point,
		const utils::Quaternion &	rotation,
		bool	move_group
	)

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setAngularVelocity()

virtual void mars::interfaces::NodeInterface::setAngularVelocity ( const utils::Vector & velocity )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setContactParams()

virtual void mars::interfaces::NodeInterface::setContactParams ( contact_params & c_params )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setForce()

virtual void mars::interfaces::NodeInterface::setForce ( const utils::Vector & f )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setLinearVelocity()

virtual void mars::interfaces::NodeInterface::setLinearVelocity ( const utils::Vector & velocity )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setPosition()

virtual const utils::Vector mars::interfaces::NodeInterface::setPosition	(	const utils::Vector &	pos,
		bool	move_group
	)

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setRotation()

virtual const utils::Quaternion mars::interfaces::NodeInterface::setRotation	(	const utils::Quaternion &	q,
		bool	move_group
	)

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setTorque()

virtual void mars::interfaces::NodeInterface::setTorque ( const utils::Vector & t )

pure virtual

Implemented in mars::sim::NodePhysics.

◆ setWorldObject()

virtual void mars::interfaces::NodeInterface::setWorldObject ( PhysicsInterface * world )

pure virtual

Implemented in mars::sim::NodePhysics.

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

/Developer/bob-learning-dev/simulation/mars/interfaces/src/sim/NodeInterface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~NodeInterface()

Member Function Documentation

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addSensor()

◆ addTorque()

◆ changeNode()

◆ createNode()

◆ destroyNode()

◆ getAngularVelocity()

◆ getCollisionDepth()

◆ getContactForce()

◆ getContactIDs()

◆ getContactPoints()

◆ getForce()

◆ getGroundContact()

◆ getGroundContactForce()

◆ getLinearVelocity()

◆ getMass()

◆ getPosition()

◆ getRotation()

◆ getTorque()

◆ handleSensorData()

◆ removeSensor()

◆ rotateAtPoint()

◆ setAngularVelocity()

◆ setContactParams()

◆ setForce()

◆ setLinearVelocity()

◆ setPosition()

◆ setRotation()

◆ setTorque()

◆ setWorldObject()