Rcs::PPDSphereRadius Class Reference

#include <PPDSphereRadius.h>

Inheritance diagram for Rcs::PPDSphereRadius:

Collaboration diagram for Rcs::PPDSphereRadius:

Public Member Functions
	PPDSphereRadius (std::string prevBodyName, unsigned int shapeIdx=0, unsigned int shapeIdxPrevBody=0)
virtual	~PPDSphereRadius ()
virtual void	setValues (PropertySource *inValues)
Public Member Functions inherited from Rcs::PPDSingleVar< double >
	PPDSingleVar (std::string name, int modifiedFlag, VariableAccessor variableAccessor)
virtual	~PPDSingleVar ()=default
virtual void	getValues (PropertySink *outValues)
Public Member Functions inherited from Rcs::PhysicsParameterDescriptor
	PhysicsParameterDescriptor ()
virtual	~PhysicsParameterDescriptor ()

Protected Member Functions
virtual void	init (BodyParamInfo *bodyParamInfo)

Private Attributes
std::string	prevBodyName
unsigned int	shapeIdx
unsigned int	shapeIdxPrevBody

Additional Inherited Members
Public Types inherited from Rcs::PPDSingleVar< double >
typedef std::function< double &(BodyParamInfo &)>	VariableAccessor
Protected Attributes inherited from Rcs::PhysicsParameterDescriptor
BodyParamInfo *	bodyParamInfo

Detailed Description

Descriptor for the radius of a sphere-shaped body.

The sphere must be the first shape of the body for this to work. This is specific to the ball-on-plate task since it also has to adjust the ball's position to prevent it from clipping through the plate.

Note that this does not update the inertia based on the shape changes, for that, add PPDMassProperties after this descriptor.

Exposes:

• radius: Radius of the sphere [m]

Definition at line 54 of file PPDSphereRadius.h.

Constructor & Destructor Documentation

PPDSphereRadius()

Rcs::PPDSphereRadius::PPDSphereRadius	(	std::string	prevBodyName,
		unsigned int	shapeIdx = 0,
		unsigned int	shapeIdxPrevBody = 0
	)

Constructor

Parameters

shapeIdx	The spheres's index within given the body. This is given by the order of the shapes in the config xml-file.
prevBodyName	Name of the previous body if the graph to which the sphere is placed relative to, Use "" if the sphere is defined in world coordinates

Definition at line 39 of file PPDSphereRadius.cpp.

~PPDSphereRadius()

Rcs::PPDSphereRadius::~PPDSphereRadius ( )

virtualdefault

Member Function Documentation

init()

void Rcs::PPDSphereRadius::init ( BodyParamInfo *  bodyParamInfo )

protectedvirtual

Setup descriptor to work on the given body reference. Override for more custom initialization.

Reimplemented from Rcs::PPDSingleVar< double >.

Definition at line 98 of file PPDSphereRadius.cpp.

setValues()

void Rcs::PPDSphereRadius::setValues ( PropertySource *  inValues )

virtual

Read values from the given dict and apply them to the graph. The parameter names need to be the same as in Rcs, e.g. rolling_friction_coefficient.

Reimplemented from Rcs::PPDSingleVar< double >.

Definition at line 46 of file PPDSphereRadius.cpp.

Member Data Documentation

prevBodyName

std::string Rcs::PPDSphereRadius::prevBodyName

private

Name of the previous body if the graph to which the sphere is placed relative to.

Definition at line 76 of file PPDSphereRadius.h.

shapeIdx

unsigned int Rcs::PPDSphereRadius::shapeIdx

private

The spheres's index within given the body. This is given by the order of the shapes in the config xml-file.

Definition at line 79 of file PPDSphereRadius.h.

shapeIdxPrevBody

unsigned int Rcs::PPDSphereRadius::shapeIdxPrevBody

private

The spheres's index within the previous body. This is given by the order of the shapes in the config xml-file.

Definition at line 81 of file PPDSphereRadius.h.

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

• src/cpp/core/physics/PPDSphereRadius.h
• src/cpp/core/physics/PPDSphereRadius.cpp