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Files | Classes | Functions
DART Physics
Classes for physics and dynamics

dart physics engine wrapper More...

Collaboration diagram for DART Physics:

Files

file  DARTTypes.hh
 DART wrapper forward declarations and typedefs.
 

Classes

class  gazebo::physics::DARTLink
 DART Link class. More...
 
class  gazebo::physics::DARTMesh
 Triangle mesh collision helper class. More...
 
class  gazebo::physics::DARTModel
 DART model class. More...
 
class  gazebo::physics::DARTPhysics
 DART physics engine. More...
 
class  gazebo::physics::DARTRayShape
 Ray collision. More...
 
class  gazebo::physics::DARTTypes
 A set of functions for converting between the math types used by gazebo and dart. More...
 

Functions

 gazebo::physics::DARTRayShape::DARTRayShape (PhysicsEnginePtr _physicsEngine)
 Constructor for a global ray. More...
 
 gazebo::physics::DARTRayShape::DARTRayShape (CollisionPtr _collision)
 Constructor. More...
 
virtual gazebo::physics::DARTRayShape::~DARTRayShape ()
 Destructor. More...
 
static Eigen::Isometry3d gazebo::physics::DARTTypes::ConvPose (const math::Pose &_pose)
 
static math::Pose gazebo::physics::DARTTypes::ConvPose (const Eigen::Isometry3d &_T)
 
static Eigen::Quaterniond gazebo::physics::DARTTypes::ConvQuat (const math::Quaternion &_quat)
 
static math::Quaternion gazebo::physics::DARTTypes::ConvQuat (const Eigen::Quaterniond &_quat)
 
static Eigen::Vector3d gazebo::physics::DARTTypes::ConvVec3 (const math::Vector3 &_vec3)
 
static math::Vector3 gazebo::physics::DARTTypes::ConvVec3 (const Eigen::Vector3d &_vec3)
 
virtual void gazebo::physics::DARTRayShape::GetIntersection (double &_dist, std::string &_entity)
 Get the nearest intersection. More...
 
virtual void gazebo::physics::DARTRayShape::SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd)
 Set the ray based on starting and ending points relative to the body. More...
 
virtual void gazebo::physics::DARTRayShape::Update ()
 Update the ray collision. More...
 

Detailed Description

dart physics engine wrapper

Function Documentation

gazebo::physics::DARTRayShape::DARTRayShape ( PhysicsEnginePtr  _physicsEngine)
explicit

Constructor for a global ray.

Parameters
[in]_physicsEnginePointer to the physics engine.
gazebo::physics::DARTRayShape::DARTRayShape ( CollisionPtr  _collision)
explicit

Constructor.

Parameters
[in]_collisionCollision object this ray is attached to.
virtual gazebo::physics::DARTRayShape::~DARTRayShape ( )
virtual

Destructor.

static Eigen::Isometry3d gazebo::physics::DARTTypes::ConvPose ( const math::Pose &  _pose)
inlinestatic

References gazebo::math::Pose::pos, and gazebo::math::Pose::rot.

static math::Pose gazebo::physics::DARTTypes::ConvPose ( const Eigen::Isometry3d &  _T)
inlinestatic

References gazebo::math::Pose::pos, and gazebo::math::Pose::rot.

static Eigen::Quaterniond gazebo::physics::DARTTypes::ConvQuat ( const math::Quaternion &  _quat)
inlinestatic

References gazebo::math::Quaternion::w, gazebo::math::Quaternion::x, gazebo::math::Quaternion::y, and gazebo::math::Quaternion::z.

static math::Quaternion gazebo::physics::DARTTypes::ConvQuat ( const Eigen::Quaterniond &  _quat)
inlinestatic
static Eigen::Vector3d gazebo::physics::DARTTypes::ConvVec3 ( const math::Vector3 &  _vec3)
inlinestatic

References gazebo::math::Vector3::x, gazebo::math::Vector3::y, and gazebo::math::Vector3::z.

Referenced by gazebo::physics::DARTBoxShape::SetSize().

static math::Vector3 gazebo::physics::DARTTypes::ConvVec3 ( const Eigen::Vector3d &  _vec3)
inlinestatic
virtual void gazebo::physics::DARTRayShape::GetIntersection ( double &  _dist,
std::string &  _entity 
)
virtual

Get the nearest intersection.

Parameters
[out]_distDistance to the intersection.
[out]_entityName of the entity that was hit.

Implements gazebo::physics::RayShape.

virtual void gazebo::physics::DARTRayShape::SetPoints ( const math::Vector3 &  _posStart,
const math::Vector3 &  _posEnd 
)
virtual

Set the ray based on starting and ending points relative to the body.

Parameters
[in]_posStartStart position, relative the body
[in]_posEndEnd position, relative to the body

Reimplemented from gazebo::physics::RayShape.

virtual void gazebo::physics::DARTRayShape::Update ( )
virtual

Update the ray collision.

Implements gazebo::physics::RayShape.