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...

static double	gazebo::physics::DARTTypes::InvertThreadPitch (double _pitch)
	Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART. 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] _physicsEngine Pointer to the physics engine.

gazebo::physics::DARTRayShape::DARTRayShape ( CollisionPtr _collision )

explicit

Constructor.

Parameters

[in] _collision Collision 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.

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]	_dist	Distance to the intersection.
[out]	_entity	Name of the entity that was hit.

Implements gazebo::physics::RayShape.

static double gazebo::physics::DARTTypes::InvertThreadPitch ( double _pitch )

inlinestatic

Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART.

[Definitions of thread pitch] Gazebo: NEGATIVE angular motion per linear motion. DART : linear motion per single rotation.

References GZ_ASSERT.

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]	_posStart	Start position, relative the body
[in]	_posEnd	End 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.

Files

Classes

Functions

Detailed Description

Function Documentation