SimTK::CableObstacle Class Reference

An obstacle is any significant object along the cable path -- one of the end points, a via point, or a surface. More...

#include <CablePath.h>

Inheritance diagram for SimTK::CableObstacle:

List of all members.

Classes
class	Surface
	This obstacle is a solid object represented by a ContactGeometry surface. More...
class	ViaPoint
	This is a point through which the cable must pass. More...
Public Member Functions
	CableObstacle ()
	Create an empty obstacle handle that can refer to any type of obstacle.
	CableObstacle (CablePath &path)
	Insert this obstacle into the given cable path.
	CableObstacle (const CableObstacle &source)
	Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source.
CableObstacle &	operator= (const CableObstacle &source)
	Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source.
	~CableObstacle ()
	Destructor clears the handle, deleting the referenced object if this was the last reference.
const Transform &	getDefaultTransform () const
	Return the default pose X_BS of the obstacle S on its body B.
const MobilizedBody &	getMobilizedBody () const
	Get a reference to the Mobilized body to which this obstacle is fixed.
const CablePath &	getCablePath () const
	Return a reference to the CablePath in which this obstacle resides.
CableObstacleIndex	getObstacleIndex () const
	Return the obstacle index within this obstacle's CablePath.
const DecorativeGeometry &	getDecorativeGeometry () const
	Return decorative geometry that can be used to display this obstacle.
DecorativeGeometry &	updDecorativeGeometry ()
	Obtain writable access to the decorative geometry stored with this obstacle so you can modify it.
bool	isDisabledByDefault () const
	Is this obstacle disabled by default? Note that this does not tell you whether it is currently disabled, just the setting that determines how it is treated when the system is first constructed.
CableObstacle &	setDisabledByDefault (bool shouldBeDisabled)
	Set the "disabled by default" flag.
CableObstacle &	setDefaultTransform (const Transform &X_BS)
	Replace the default transform for this obstacle; this is usually set in the constructor.
CableObstacle &	setDecorativeGeometry (const DecorativeGeometry &viz)
	Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path.
void	clear ()
	Clear this handle, deleting the referenced object if this was the last reference.
bool	isEmpty () const
	See if this handle is empty.
const Impl &	getImpl () const
Impl &	updImpl ()
Protected Member Functions
	CableObstacle (Impl *impl)

---

Detailed Description

An obstacle is any significant object along the cable path -- one of the end points, a via point, or a surface.

This is the base class that can refer to any kind of obstacles; specific types are derived from this one.

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Constructor & Destructor Documentation

SimTK::CableObstacle::CableObstacle

(

)

[inline]

Create an empty obstacle handle that can refer to any type of obstacle.

SimTK::CableObstacle::CableObstacle

(

CablePath &

path

)

[explicit]

Insert this obstacle into the given cable path.

SimTK::CableObstacle::CableObstacle

(

const CableObstacle &

source

)

Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source.

SimTK::CableObstacle::~CableObstacle

(

)

[inline]

Destructor clears the handle, deleting the referenced object if this was the last reference.

SimTK::CableObstacle::CableObstacle

(

Impl *

impl

)

[explicit, protected]

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Member Function Documentation

CableObstacle& SimTK::CableObstacle::operator=

(

const CableObstacle &

source

)

Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source.

const Transform& SimTK::CableObstacle::getDefaultTransform

(

)

const

Return the default pose X_BS of the obstacle S on its body B.

For a via point, the point is located at the S frame origin whose position vector in B is X_BS.p().

const MobilizedBody& SimTK::CableObstacle::getMobilizedBody

(

)

const

Get a reference to the Mobilized body to which this obstacle is fixed.

There can be multiple objects on a single body, so this is not necessarily unique within a path.

const CablePath& SimTK::CableObstacle::getCablePath

(

)

const

Return a reference to the CablePath in which this obstacle resides.

CableObstacleIndex SimTK::CableObstacle::getObstacleIndex

(

)

const

Return the obstacle index within this obstacle's CablePath.

const DecorativeGeometry& SimTK::CableObstacle::getDecorativeGeometry

(

)

const

Return decorative geometry that can be used to display this obstacle.

The decorative geometry's coordinate frame is coincident with the obstacle's coordinate frame S.

DecorativeGeometry& SimTK::CableObstacle::updDecorativeGeometry

(

)

Obtain writable access to the decorative geometry stored with this obstacle so you can modify it.

If you want to replace the decorative geometry altogether use setDecorativeGeometry().

bool SimTK::CableObstacle::isDisabledByDefault

(

)

const

Is this obstacle disabled by default? Note that this does not tell you whether it is currently disabled, just the setting that determines how it is treated when the system is first constructed.

CableObstacle& SimTK::CableObstacle::setDisabledByDefault

(

bool

shouldBeDisabled

)

Set the "disabled by default" flag.

This controls whether the obstacle is included for consideration in the cable path when the system is first constructed; it does not affect the current setting.

CableObstacle& SimTK::CableObstacle::setDefaultTransform

(

const Transform &

X_BS

)

Replace the default transform for this obstacle; this is usually set in the constructor.

CableObstacle& SimTK::CableObstacle::setDecorativeGeometry

(

const DecorativeGeometry &

viz

)

Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path.

It is up to you to make sure the geometry is actually representative of the obstacle -- no one is going to check.

Reimplemented in SimTK::CableObstacle::Surface.

void SimTK::CableObstacle::clear

(

)

Clear this handle, deleting the referenced object if this was the last reference.

bool SimTK::CableObstacle::isEmpty

(

)

const [inline]

See if this handle is empty.

const Impl& SimTK::CableObstacle::getImpl

(

)

const [inline]

Impl& SimTK::CableObstacle::updImpl

(

)

[inline]

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

• CablePath.h