Inheritance diagram for scl::CGraphicsBase:

Collaboration diagram for scl::CGraphicsBase:

Public Member Functions
	CGraphicsBase ()

virtual	~CGraphicsBase ()

virtual sBool	initGraphics (const SGraphicsParsed *arg_gr_ds)=0

virtual sBool	hasBeenInit ()

virtual sBool	destroyGraphics ()=0

virtual sBool	addRobotToRender (const SRobotParsed arg_rob_parsed, const SRobotIO arg_rob_io)=0

virtual sBool	removeRobotFromRender (const std::string &arg_robot)=0

virtual sBool	addMeshToRender (const std::string &arg_mesh_name, const std::string &arg_mesh_file, const Eigen::Vector3d &arg_pos, const Eigen::Matrix3d &arg_rot)=0

virtual sBool	removeMeshFromRender (const std::string &arg_mesh_name)=0

virtual sBool	addMusclesToRender (const std::string &arg_robot, const SActuatorSetMuscleParsed &arg_mset, const sBool add_musc_via_points)=0

virtual sBool	removeMusclesFromRender (const std::string &arg_robot, const std::string &arg_mset)=0

virtual sBool	updateGraphics ()=0

virtual sBool	updateGraphicsForRobots ()=0

virtual bool	updateGraphicsForMeshes ()=0

virtual bool	updateGraphicsForMuscles ()=0

virtual const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
std::string	name_

sBool	has_been_init_

Protected Attributes
std::string	type_

Constructor & Destructor Documentation

scl::CGraphicsBase::CGraphicsBase ( )

inline

Default constructor sets initialization state to false

virtual scl::CGraphicsBase::~CGraphicsBase ( )

inlinevirtual

Default destructor does nothing.

Member Function Documentation

virtual sBool scl::CGraphicsBase::addMeshToRender	(	const std::string &	arg_mesh_name,
		const std::string &	arg_mesh_file,
		const Eigen::Vector3d &	arg_pos,
		const Eigen::Matrix3d &	arg_rot
	)

pure virtual

Adds a static mesh to render. Indexed by its name.

A mesh is defined as anything that DOESN"T obey the laws of physics. It is merely rendered (possibly with collision etc).

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::addMusclesToRender	(	const std::string &	arg_robot,
		const SActuatorSetMuscleParsed &	arg_mset,
		const sBool	add_musc_via_points
	)

pure virtual

Adds a muscle system to the graphics rendering environment

A muscle system is defined as:

A set of line segments, with connection points on a robot links certain links.
A parent robot to whose links the muscles attach.

Parameters

arg_robot	The robot to which the muscles will be attached
arg_mset	The set of muscles to be attached

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::addRobotToRender	(	const SRobotParsed *	arg_rob_parsed,
		const SRobotIO *	arg_rob_io
	)

pure virtual

Adds a robot's meshes to the graphics rendering environment.

A robot is defined as:

Anything whose dynamics are integrated by the physics simulator
Any real world entity subject to the laws of physics

Parameters

arg_rob_parsed	The static robot specification
arg_rob_io	The generalized coordinates etc.

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::destroyGraphics ( )

pure virtual

Deallocates the graphics and resets all associated variables..

Implemented in scl::CGraphicsChai.

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

virtual sBool scl::CGraphicsBase::hasBeenInit ( )

inlinevirtual

Initialization state

virtual sBool scl::CGraphicsBase::initGraphics ( const SGraphicsParsed * arg_gr_ds )

pure virtual

Initializes a graphics world using the camera information in the passed data structure.

Returns, true : Successfully created a world false : Failed (or the data structure was invalid).

Parameters

arg_gr_ds The graphics data structure loaded from the xml file. Specifies camera etc. information.

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::removeMeshFromRender ( const std::string & arg_mesh_name )

pure virtual

Removes a static mesh from the rendered scene. Indexed by its name.

A mesh is defined as anything that DOESN"T obey the laws of physics. It is merely rendered (possibly with collision etc).

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::removeMusclesFromRender	(	const std::string &	arg_robot,
		const std::string &	arg_mset
	)

pure virtual

Removes a muscle system from the graphics rendering environment

A muscle system is defined as:

A set of line segments, with connection points on a robot links certain links.
A parent robot to whose links the muscles attach.

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::removeRobotFromRender ( const std::string & arg_robot )

pure virtual

Removes a robot's meshes from the graphics rendering environment.

A robot is defined as:

Anything whose dynamics are integrated by the physics simulator
Any real world entity subject to the laws of physics

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::updateGraphics ( )

pure virtual

Updates the rotation and translation transformations for all the robots' associated CGenerericObject branching representations.

Implemented in scl::CGraphicsChai.

virtual bool scl::CGraphicsBase::updateGraphicsForMeshes ( )

pure virtual

Updates the rotation and translation transformations for all meshes.

Implemented in scl::CGraphicsChai.

virtual bool scl::CGraphicsBase::updateGraphicsForMuscles ( )

pure virtual

Updates the rotation and translation transformations for all muscles systems.

Implemented in scl::CGraphicsChai.

virtual sBool scl::CGraphicsBase::updateGraphicsForRobots ( )

pure virtual

Updates the rotation and translation transformations for all associated robots

Implemented in scl::CGraphicsChai.

Member Data Documentation

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

std::string scl::SObject::name_

inherited

The object's name

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

/home/samir/Code/control/scl.git/src/scl/graphics/CGraphicsBase.hpp

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation