Helper class to store link data. More...

#include <ModelData.hh>

Inherits QObject.

Public Member Functions
	LinkData ()
	Constructor. More...

	~LinkData ()
	Destructor. More...

void	AddCollision (rendering::VisualPtr _collisionVis, const msgs::Collision *_msg=NULL)
	Add a collision to the link. More...

void	AddVisual (rendering::VisualPtr _visual)
	Add a visual to the link. More...

LinkData *	Clone (const std::string &_newName)
	Clone the link data. More...

double	ComputeVolume () const
	Computes the volume of the link. More...

rendering::VisualPtr	LinkVisual () const
	Get the visual for the link. More...

void	Load (sdf::ElementPtr _sdf)
	Load the link with data from SDF. More...

std::string	Name () const
	Get the name of the link. More...

ignition::math::Pose3d	Pose () const
	Get the pose of the link. More...

ignition::math::Vector3d	Scale () const
	Get the scale of the link. More...

void	SetLinkVisual (const rendering::VisualPtr _visual)
	Set the visual for the link. More...

void	SetName (const std::string &_name)
	Set the name of the link. More...

void	SetPose (const ignition::math::Pose3d &_pose3d)
	Set the pose of the link. More...

void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale of the link. More...

void	UpdateConfig ()
	Update the inspector widget if necessary. More...

Static Public Member Functions
static ignition::math::Vector3d	ComputeMomentOfInertia (const msgs::Collision &_collision, const double _mass)
	Computes mass moment of inertia for a link. More...

static double	ComputeVolume (const msgs::Collision &_collision)
	Computes the volume of a link. More...

Public Attributes
std::map< rendering::VisualPtr, msgs::Collision >	collisions
	Collisions of the link. More...

std::vector< msgs::Collision * >	collisionUpdateMsgs
	Msgs for updating collision visuals. More...

LinkInspector *	inspector
	Inspector for configuring link properties. More...

sdf::ElementPtr	linkSDF
	SDF representing the link data. More...

rendering::VisualPtr	linkVisual
	Visual representing this link. More...

bool	nested
	Flag set to true if this is a link of a nested model. More...

ignition::math::Vector3d	scale
	Scale of link. More...

std::map< rendering::VisualPtr, msgs::Visual >	visuals
	Visuals of the link. More...

std::vector< msgs::Visual * >	visualUpdateMsgs
	Msgs for updating visuals. More...

Detailed Description

Helper class to store link data.

Constructor & Destructor Documentation

LinkData ( )

Constructor.

~LinkData ( )

Destructor.

Member Function Documentation

void AddCollision	(	rendering::VisualPtr	_collisionVis,
		const msgs::Collision *	_msg = `NULL`
	)

Add a collision to the link.

Parameters

[in]	_collisionVis	Visual representing the collision.
[in]	_msg	Optional message containing collision params.

void AddVisual ( rendering::VisualPtr _visual )

Add a visual to the link.

Parameters

[in] _visual Visual to be added.

LinkData* Clone ( const std::string & _newName )

Clone the link data.

Parameters

[in] _newName Name to give to the cloned link.

Returns: A clone of this link data.

static ignition::math::Vector3d ComputeMomentOfInertia	(	const msgs::Collision &	_collision,
		const double	_mass
	)

static

Computes mass moment of inertia for a link.

Parameters

[in]	_collision	A collision message.
[in]	_mass	The mass of the link.

Returns: Vector of principal moments of inertia.

static double ComputeVolume ( const msgs::Collision & _collision )

static

Computes the volume of a link.

Parameters

[in] _collision A collision message.

Returns: The computed volume.

double ComputeVolume ( ) const

Computes the volume of the link.

Returns: The volume.

rendering::VisualPtr LinkVisual ( ) const

Get the visual for the link.

Returns: Visual for the link.

void Load ( sdf::ElementPtr _sdf )

Load the link with data from SDF.

Parameters

[in] _sdf Link SDF element.

std::string Name ( ) const

Get the name of the link.

Returns: Name of link.

ignition::math::Pose3d Pose ( ) const

Get the pose of the link.

Returns: Pose of link.

ignition::math::Vector3d Scale ( ) const

Get the scale of the link.

Returns: Scale of link.

void SetLinkVisual ( const rendering::VisualPtr _visual )

Set the visual for the link.

Parameters

[in] _visual Visual for the link.

void SetName ( const std::string & _name )

Set the name of the link.

Parameters

[in] _name Name of link.

void SetPose ( const ignition::math::Pose3d & _pose3d )

Set the pose of the link.

Parameters

[in] _pose Pose of link.

void SetScale ( const ignition::math::Vector3d & _scale )

Set the scale of the link.

Parameters

[in] _scale Scale of link.

void UpdateConfig ( )

Update the inspector widget if necessary.

Member Data Documentation

std::map<rendering::VisualPtr, msgs::Collision> collisions

Collisions of the link.

std::vector<msgs::Collision *> collisionUpdateMsgs

Msgs for updating collision visuals.

LinkInspector* inspector

Inspector for configuring link properties.

sdf::ElementPtr linkSDF

SDF representing the link data.

rendering::VisualPtr linkVisual

Visual representing this link.

bool nested

Flag set to true if this is a link of a nested model.

ignition::math::Vector3d scale

Scale of link.

std::map<rendering::VisualPtr, msgs::Visual> visuals

Visuals of the link.

std::vector<msgs::Visual *> visualUpdateMsgs

Msgs for updating visuals.

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

ModelData.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation