#include <CGraphicsChai.hpp>

Inheritance diagram for scl::CGraphicsChai:

Collaboration diagram for scl::CGraphicsChai:

Public Member Functions
virtual sBool	initGraphics (const SGraphicsParsed *arg_gr_ds)

virtual sBool	initGraphics (const SGraphicsParsed arg_gr_ds, SGraphicsChai arg_chai_ds)

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

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

sBool	addRobotLink (SGraphicsChaiRigidBody *arg_robot_link)

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)

virtual sBool	addMeshToParentInRender (const std::string &arg_mesh_name, const std::string &arg_parent_name, const std::string &arg_mesh_file, const Eigen::Vector3d &arg_pos, const Eigen::Matrix3d &arg_rot)

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

sBool	scaleMesh (const std::string &arg_mesh_name, sFloat arg_x, sFloat arg_y, sFloat arg_z)

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

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

sBool	addSphereToRender (const std::string &arg_robot, const std::string &arg_link, const Eigen::Vector3d &arg_pos, const sFloat arg_size=0.01, chai3d::cGenericObject **arg_ret_ptr=S_NULL)

sBool	addSphereToRender (const Eigen::Vector3d &arg_pos, chai3d::cGenericObject *&arg_ret_ptr, const sFloat arg_size=0.01)

sBool	addBeltedEllipsoidToRender (const Eigen::Vector3d &arg_pos, chai3d::cGenericObject *&arg_ret_ptr, const sFloat arg_size=0.01)

virtual sBool	destroyGraphics ()

virtual sBool	updateGraphics ()

virtual sBool	updateGraphicsForRobots ()

virtual sBool	updateGraphicsForMeshes ()

virtual sBool	updateGraphicsForMuscles ()

	CGraphicsChai ()

virtual	~CGraphicsChai ()

SGraphicsChai *	getChaiData ()

const SGraphicsParsed *	getParsedData ()

virtual sBool	hasBeenInit ()

virtual bool	hasBeenInit () const

virtual const std::string &	getType () const

virtual const std::string &	getName () const

Public Attributes
std::string	name_

sBool	has_been_init_

Protected Attributes
SGraphicsChai *	data_

bool	data_is_mine_

const SGraphicsParsed *	data_parsed_

std::string	type_

Detailed Description

This is the interface for using chai graphics.

Enables rendering arbitrary scl robots.

Constructor & Destructor Documentation

scl::CGraphicsChai::CGraphicsChai ( )

inline

Default constructor. Sets stuff to NULL.

virtual scl::CGraphicsChai::~CGraphicsChai ( )

inlinevirtual

Default destructor. Does nothing

Member Function Documentation

sBool scl::CGraphicsChai::addBeltedEllipsoidToRender	(	const Eigen::Vector3d &	arg_pos,
		chai3d::cGenericObject *&	arg_ret_ptr,
		const sFloat	arg_size = `0.01`
	)

Adds a belted ellipsoid (representing the inertia at an operational point) to the rendering environment wrt the global frame

Parameters

arg_ret_ptr Reference to a pointer, pass a pointer and get the object for your use

sBool scl::CGraphicsChai::addMeshToParentInRender	(	const std::string &	arg_mesh_name,
		const std::string &	arg_parent_name,
		const std::string &	arg_mesh_file,
		const Eigen::Vector3d &	arg_pos,
		const Eigen::Matrix3d &	arg_rot
	)

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).

The parent mesh MUST exist in the graphics world already.

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

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).

Implements scl::CGraphicsBase.

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

virtual

Adds a muscle system to the graphics rendering environment

A muscle system contains:

A set of muscles, each with a set of connection points to 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

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::addRobotLink ( SGraphicsChaiRigidBody * arg_robot_link )

Recursively adds links to the chai scenegraph (used by addRobotToRender() ).

Creates a graphics object for a passed SGraphicsPhysicalLink* provided the parser data pointer is already set.
Creates child objects for the passed SGraphicsPhysicalLink, sets their parser data pointers, and recursively sets them by calling itself.

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

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

Tree structure built by this function: chai scenegraph root (Each child is a scl_util::CBranchingRepresentation<string, SGraphicsPhysicalLink>) | Robot Root / \ Links.. Links...

This tree structure allows selectively accessing the branching representations for different robots, and allows turning them on or off one-by-one.

Also, since we maintain different trees (chai, dynamics, parser-data etc..), we need some way to connect nodes between them. Each "SGraphicsChai data_" stores a pilemap of such trees in sutil::CMappedList< string, sutil::CMappedTree<string, SGraphicsPhysicalLink> > where the SGraphicsPhysicalLink object allows accessing links in all the different trees at one place.

Parameters

arg_rob_parsed	The static robot specification
arg_rob_io	The generalized coordinates etc.

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::addSphereToRender	(	const std::string &	arg_robot,
		const std::string &	arg_link,
		const Eigen::Vector3d &	arg_pos,
		const sFloat	arg_size = `0.01`,
		chai3d::cGenericObject **	arg_ret_ptr = `S_NULL`
	)

Adds a sphere to a link on a robot in the rendering environment

Parameters

arg_ret_ptr Get the object for your use

sBool scl::CGraphicsChai::addSphereToRender	(	const Eigen::Vector3d &	arg_pos,
		chai3d::cGenericObject *&	arg_ret_ptr,
		const sFloat	arg_size = `0.01`
	)

Adds a sphere to the rendering environment wrt the global frame

Parameters

arg_ret_ptr Reference to a pointer, pass a pointer and get the object for your use

sBool scl::CGraphicsChai::destroyGraphics ( )

virtual

Deallocates the chai world.

Implements scl::CGraphicsBase.

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 ( )

inlinevirtualinherited

Initialization state

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

inlinevirtual

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.

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::initGraphics	(	const SGraphicsParsed *	arg_gr_ds,
		SGraphicsChai *	arg_chai_ds
	)

virtual

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

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

position (eye)

lookat position (target)

"up" direction

Parameters

arg_gr_ds	The graphics data structure loaded from the xml file. Specifies camera etc. information.
arg_chai_ds	The graphics object to be used for computations. This allows someone else to (dynamically) allocate this object.

sBool scl::CGraphicsChai::removeMeshFromRender ( const std::string & arg_mesh_name )

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).

Implements scl::CGraphicsBase.

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

inlinevirtual

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.

NOTE TODO: Implement this.

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::removeRobotFromRender ( const std::string & arg_robot )

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

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::scaleMesh	(	const std::string &	arg_mesh_name,
		sFloat	arg_x,
		sFloat	arg_y,
		sFloat	arg_z
	)

Scales a mesh along the x, y and z axes if it has been added to the rendering environment

sBool scl::CGraphicsChai::updateGraphics ( )

virtual

Updates the rotation and translation transformations for all the robots' and meshes' chai objects. ie. Updates all the CGenericObjects..

Implements scl::CGraphicsBase.

virtual sBool scl::CGraphicsChai::updateGraphicsForMeshes ( )

inlinevirtual

Updates the rotation and translation transformations for meshes' associated CGenerericObject branching chai representation. NOTE : Since meshes don't move themselves, this function does nothing. The meshes might move during user interaction sessions, but other code must update their frame transforms.

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::updateGraphicsForMuscles ( )

virtual

Updates the rotation and translation transformations for muscle systems' associated CGenerericObject branching chai representation.

Implements scl::CGraphicsBase.

sBool scl::CGraphicsChai::updateGraphicsForRobots ( )

virtual

Updates the rotation and translation transformations for robots' associated CGenerericObject branching chai representation.

Uncomment this if required:

Implements scl::CGraphicsBase.

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 files:

/home/samir/Code/control/scl.git/src/scl/graphics/chai/CGraphicsChai.hpp
/home/samir/Code/control/scl.git/src/scl/graphics/chai/CGraphicsChai.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation