Base implementation of an center of mass visual. More...

#include <BaseCOMVisual.hh>

Public Member Functions
virtual	~BaseCOMVisual ()
	Destructor.

virtual gz::math::Pose3d	InertiaPose () const override
	Get the inertia pose.

virtual double	Mass () const override
	Get the mass of the parent.

virtual void	SetInertial (const gz::math::Inertiald &_inertial) override
	Set the inertial component of the visual.

virtual void	SetMass (double _mass) override
	Set the mass of the parent.

virtual VisualPtr	SphereVisual () const override
	Get the sphere visual.

Public Member Functions inherited from COMVisual
virtual	~COMVisual ()
	Destructor.

Public Member Functions inherited from Visual
virtual	~Visual ()
	Destructor.

virtual void	AddGeometry (GeometryPtr _geometry)=0
	Add the given geometry to this visual. If the given node is already attached, no work will be done.

virtual void	AddVisibilityFlags (uint32_t _flags)=0
	Add visibility flags.

virtual gz::math::AxisAlignedBox	BoundingBox () const =0
	Get the bounding box in world frame coordinates.

virtual VisualPtr	Clone (const std::string &_name, NodePtr _newParent) const =0
	Clone the visual (and its children) with a new name.

virtual GeometryPtr	GeometryByIndex (unsigned int _index) const =0
	Get geometry at given index. If no geometry exists at given index, NULL will be returned.

virtual unsigned int	GeometryCount () const =0
	Get the number of geometries attached to this visual.

virtual bool	HasGeometry (ConstGeometryPtr _geometry) const =0
	Determine if given geometry is attached to this visual.

virtual gz::math::AxisAlignedBox	LocalBoundingBox () const =0
	Get the local bounding box of the visual.

virtual MaterialPtr	Material () const =0
	Get the material assigned to attached visuals and geometries.

virtual void	RemoveGeometries ()=0
	Remove all attached geometries from this visual.

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry)=0
	Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done.

virtual GeometryPtr	RemoveGeometryByIndex (unsigned int _index)=0
	Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done.

virtual void	RemoveVisibilityFlags (uint32_t _flags)=0
	Remove visibility flags.

virtual void	SetChildMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals only.

virtual void	SetGeometryMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached geometries only.

virtual void	SetMaterial (const std::string &_name, bool _unique=true)=0
	Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done.

virtual void	SetMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals and geometries.

virtual void	SetStatic (bool _static)=0
	Tells Render Engine this Visual will be static (i.e. won't move, rotate or scale) You can still move, rotate or scale the Visual; however doing so has a performance impact. How much of an impact will depend on the rendering backend being used.

virtual void	SetVisibilityFlags (uint32_t _flags)=0
	Set visibility flags.

virtual void	SetVisible (bool _visible)=0
	Specify if this visual is visible.

virtual void	SetWireframe (bool _show)=0
	Enable or disable wireframe.

virtual bool	Static () const =0
	Get whether the visual is static.

virtual uint32_t	VisibilityFlags () const =0
	Get visibility flags.

virtual bool	Wireframe () const =0
	Get whether wireframe is enabled for this visual.

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor.

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done.

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned.

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned.

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned.

virtual unsigned int	ChildCount () const =0
	Get number of child nodes.

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child.

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child.

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child.

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node.

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data.

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent.

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose.

virtual math::Pose3d	LocalPose () const =0
	Get the local pose.

virtual math::Vector3d	LocalPosition () const =0
	Get the local position.

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation.

virtual math::Vector3d	LocalScale () const =0
	Get the local scale.

virtual math::Vector3d	Origin () const =0
	Get position of origin.

virtual NodePtr	Parent () const =0
	Get the parent Node.

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done.

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done.

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them.

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done.

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars.

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates.

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars.

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent.

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose.

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position.

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position.

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation.

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation.

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation.

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale.

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates.

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale.

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry.

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry.

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node.

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose.

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position.

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position.

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation.

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation.

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation.

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale.

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates.

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale.

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node.

virtual math::Pose3d	WorldPose () const =0
	Get the world pose.

virtual math::Vector3d	WorldPosition () const =0
	Get the world position.

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation.

virtual math::Vector3d	WorldScale () const =0
	Get the world scale.

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose.

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor.

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes.

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes.

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering.

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object.

Protected Member Functions
	BaseCOMVisual ()
	Constructor.

virtual void	Init () override

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

double	SphereRadius () const
	Get the radius of the CoM sphere.

Protected Attributes
bool	dirtyCOMVisual = false
	Flag to indicate parent properties have changed.

gz::math::Pose3d	inertiaPose
	Inertia pose in parent frame.

double	mass = 1.0
	Parent mass.

std::string	parentName = ""
	Parent visual name.

Detailed Description

template<class T>
class gz::rendering::BaseCOMVisual< T >

Base implementation of an center of mass visual.

Constructor & Destructor Documentation

◆ BaseCOMVisual()

template<class T >

BaseCOMVisual ( )

protected

Constructor.

◆ ~BaseCOMVisual()

template<class T >

~BaseCOMVisual ( )

virtual

Destructor.

Member Function Documentation

◆ InertiaPose()

template<class T >

gz::math::Pose3d InertiaPose ( ) const

overridevirtual

Get the inertia pose.

Returns: Inertia pose in parent frame.

Implements COMVisual.

◆ Init()

template<class T >

void Init ( )

overrideprotectedvirtual

Reimplemented in OgreCOMVisual, and Ogre2COMVisual.

◆ Mass()

template<class T >

double Mass ( ) const

overridevirtual

Get the mass of the parent.

Returns: Parent mass

Implements COMVisual.

◆ PreRender()

template<class T >

void PreRender ( )

overrideprotectedvirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Implements Object.

Reimplemented in OgreCOMVisual, and Ogre2COMVisual.

◆ SetInertial()

template<class T >

void SetInertial ( const gz::math::Inertiald & _inertial )

overridevirtual

Set the inertial component of the visual.

Parameters

[in] _inertial Inertial component of the visual

Implements COMVisual.

References Inertial< typename T >::MassMatrix(), and Inertial< typename T >::Pose().

◆ SetMass()

template<class T >

void SetMass ( double _mass )

overridevirtual

Set the mass of the parent.

Parameters

[in] _mass Parent mass

Implements COMVisual.

References gzlog.

◆ SphereRadius()

template<class T >

double SphereRadius ( ) const

protected

Get the radius of the CoM sphere.

Returns: Radius of the CoM sphere

References GZ_PI.

◆ SphereVisual()

template<class T >

VisualPtr SphereVisual ( ) const

overridevirtual

Get the sphere visual.

Returns: Pointer to the sphere visual

Implements COMVisual.

Reimplemented in OgreCOMVisual, and Ogre2COMVisual.

Member Data Documentation

◆ dirtyCOMVisual

template<class T >

bool dirtyCOMVisual = false

protected

Flag to indicate parent properties have changed.

◆ inertiaPose

template<class T >

gz::math::Pose3d inertiaPose

protected

Initial value:

=

gz::math::Pose3d::Zero

Inertia pose in parent frame.

◆ mass

template<class T >

double mass = 1.0

protected

Parent mass.

◆ parentName

template<class T >

std::string parentName = ""

protected

Parent visual name.

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

BaseCOMVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseCOMVisual()

◆ ~BaseCOMVisual()

Member Function Documentation

◆ InertiaPose()

◆ Init()

◆ Mass()

◆ PreRender()

◆ SetInertial()

◆ SetMass()

◆ SphereRadius()

◆ SphereVisual()

Member Data Documentation

◆ dirtyCOMVisual

◆ inertiaPose

◆ mass

◆ parentName