ddDrakeModel Class Reference

#include <src/app/ddDrakeModel.h>

Inheritance diagram for ddDrakeModel:

Signals
void	modelChanged ()
void	displayChanged ()

Public Member Functions
	ddDrakeModel (QObject *parent=0)
virtual	~ddDrakeModel ()
bool	loadFromFile (const QString &filename, const QString &floatingBaseType="ROLLPITCHYAW")
bool	loadFromXML (const QString &xmlString)
const QString &	filename () const
const ddSharedPtr< RigidBodyTreed >	getDrakeRBM () const
const ddSharedPtr < KinematicsCache< double > >	getKinematicsCache () const
void	addToRenderer (vtkRenderer *renderer)
void	removeFromRenderer (vtkRenderer *renderer)
int	numberOfJoints ()
void	setJointPositions (const QVector< double > &positions, const QList< QString > &jointNames)
void	setJointPositions (const QVector< double > &positions)
QVector< double >	getJointPositions (const QList< QString > &jointNames) const
const QVector< double > &	getJointPositions () const
QVector< double >	getCenterOfMass () const
QVector< double >	getJointLimits (const QString &jointName) const
QVector< double >	getBodyContactPoints (const QString &bodyName) const
QVector< double >	geometricJacobian (int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, int gradient_order, bool in_terms_of_qdot=false)
bool	getLinkToWorld (const QString &linkName, vtkTransform *transform)
bool	getFrameToWorld (int frameId, vtkTransform *transform)
QList< QString >	getLinkNames ()
QList< QString >	getJointNames ()
int	findLinkID (const QString &linkName) const
int	findJointID (const QString &jointName) const
int	findFrameID (const QString &frameName) const
QString	findNameOfChildBodyOfJoint (const QString &jointName) const
void	getModelMesh (vtkPolyData *polyData)
void	getModelMeshWithLinkInfoAndNormals (vtkPolyData *polyData)
void	getLinkModelMesh (const QString &linkName, vtkPolyData *polyData)
QString	getLinkNameForMesh (vtkPolyData *polyData)
QString	getBodyOrFrameName (int body_or_frame_id)
void	setAlpha (double alpha)
double	alpha () const
void	setUrdfColors ()
void	setTexturesEnabled (bool enabled)
bool	texturesEnabled () const
void	setVisible (bool visible)
bool	visible () const
QColor	color () const
void	setColor (const QColor &color)
void	setLinkColor (const QString &linkName, const QColor &color)
QColor	getLinkColor (const QString &linkName) const

Static Public Member Functions
static void	addPackageSearchPath (const QString &searchPath)
static QString	findPackageDirectory (const QString &packageName)

Protected Member Functions
	Q_DISABLE_COPY (ddDrakeModel)

Protected Attributes
ddInternal *	Internal

Detailed Description

Definition at line 24 of file ddDrakeModel.h.

Constructor & Destructor Documentation

ddDrakeModel::ddDrakeModel

(

QObject *

parent = 0

)

virtual ddDrakeModel::~ddDrakeModel ( )

virtual

Member Function Documentation

static void ddDrakeModel::addPackageSearchPath ( const QString &  searchPath )

static

void ddDrakeModel::addToRenderer

(

vtkRenderer *

renderer

)

double ddDrakeModel::alpha

(

)

const

QColor ddDrakeModel::color

(

)

const

void ddDrakeModel::displayChanged ( )

signal

const QString& ddDrakeModel::filename

(

)

const

int ddDrakeModel::findFrameID

(

const QString &

frameName

)

const

int ddDrakeModel::findJointID

(

const QString &

jointName

)

const

int ddDrakeModel::findLinkID

(

const QString &

linkName

)

const

QString ddDrakeModel::findNameOfChildBodyOfJoint

(

const QString &

jointName

)

const

static QString ddDrakeModel::findPackageDirectory ( const QString &  packageName )

static

QVector<double> ddDrakeModel::geometricJacobian	(	int	base_body_or_frame_ind,
		int	end_effector_body_or_frame_ind,
		int	expressed_in_body_or_frame_ind,
		int	gradient_order,
		bool	in_terms_of_qdot = false
	)

QVector<double> ddDrakeModel::getBodyContactPoints

(

const QString &

bodyName

)

const

QString ddDrakeModel::getBodyOrFrameName

(

int

body_or_frame_id

)

QVector<double> ddDrakeModel::getCenterOfMass

(

)

const

const ddSharedPtr<RigidBodyTreed> ddDrakeModel::getDrakeRBM

(

)

const

bool ddDrakeModel::getFrameToWorld	(	int	frameId,
		vtkTransform *	transform
	)

QVector<double> ddDrakeModel::getJointLimits

(

const QString &

jointName

)

const

QList<QString> ddDrakeModel::getJointNames

(

)

QVector<double> ddDrakeModel::getJointPositions

(

const QList< QString > &

jointNames

)

const

const QVector<double>& ddDrakeModel::getJointPositions

(

)

const

const ddSharedPtr<KinematicsCache<double> > ddDrakeModel::getKinematicsCache

(

)

const

QColor ddDrakeModel::getLinkColor

(

const QString &

linkName

)

const

void ddDrakeModel::getLinkModelMesh	(	const QString &	linkName,
		vtkPolyData *	polyData
	)

QString ddDrakeModel::getLinkNameForMesh

(

vtkPolyData *

polyData

)

QList<QString> ddDrakeModel::getLinkNames

(

)

bool ddDrakeModel::getLinkToWorld	(	const QString &	linkName,
		vtkTransform *	transform
	)

void ddDrakeModel::getModelMesh

(

vtkPolyData *

polyData

)

void ddDrakeModel::getModelMeshWithLinkInfoAndNormals

(

vtkPolyData *

polyData

)

bool ddDrakeModel::loadFromFile	(	const QString &	filename,
		const QString &	floatingBaseType = "ROLLPITCHYAW"
	)

bool ddDrakeModel::loadFromXML

(

const QString &

xmlString

)

void ddDrakeModel::modelChanged ( )

signal

int ddDrakeModel::numberOfJoints

(

)

ddDrakeModel::Q_DISABLE_COPY ( ddDrakeModel  )

protected

void ddDrakeModel::removeFromRenderer

(

vtkRenderer *

renderer

)

void ddDrakeModel::setAlpha

(

double

alpha

)

void ddDrakeModel::setColor

(

const QColor &

color

)

void ddDrakeModel::setJointPositions	(	const QVector< double > &	positions,
		const QList< QString > &	jointNames
	)

void ddDrakeModel::setJointPositions

(

const QVector< double > &

positions

)

void ddDrakeModel::setLinkColor	(	const QString &	linkName,
		const QColor &	color
	)

void ddDrakeModel::setTexturesEnabled

(

bool

enabled

)

void ddDrakeModel::setUrdfColors

(

)

void ddDrakeModel::setVisible

(

bool

visible

)

bool ddDrakeModel::texturesEnabled

(

)

const

bool ddDrakeModel::visible

(

)

const

Member Data Documentation

ddInternal* ddDrakeModel::Internal

protected

Definition at line 94 of file ddDrakeModel.h.

---

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

• src/app/ddDrakeModel.h