Class that creates a force vector visualization node. More...

Public Member Functions
	ContactForceVisual (bool debug=false)
	Constructs a ContactForceVisual object.
	~ContactForceVisual ()
	Destructs the ContactForceVisual object.
void	createForceVector (float lineLength, const Eigen::Vector3d &contactPoint, const Eigen::Vector3d &contactForce)
	Creates a force vector for the contact forces.
void	update (float lineLength, const Eigen::Vector3d &contactPoint, const Eigen::Vector3d &contactForce)
	update the contact force visual
Protected Member Functions
osg::Matrix	_convertVectorToOsgTF (const Eigen::Vector3d &point, const Eigen::Vector3d &vector)
	Converts two Eigen::Vector3d's specifying the point of contact and direction of the force to an osg::Matrix.
Protected Attributes
osgGolems::Line *	_contactForceLine
	Geometry creating the Line in OpenSceneGraph.
bool	_debug
	Whether or not to print out debug statements.

Detailed Description

Class that creates a force vector visualization node.

Constructor & Destructor Documentation

ContactForceVisual::ContactForceVisual ( bool debug = false )

Constructs a ContactForceVisual object.

Parameters:

debug Whether or not to print debug statements

osg::Matrix ContactForceVisual::_convertVectorToOsgTF	(	const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	vector
	)		`[protected]`

Converts two Eigen::Vector3d's specifying the point of contact and direction of the force to an osg::Matrix.

Parameters:

point	Vector specifying the point of contact
vector	Vector specifying the direction of the force

void ContactForceVisual::createForceVector	(	float	lineLength,
		const Eigen::Vector3d &	contactPoint,
		const Eigen::Vector3d &	contactForce
	)

Creates a force vector for the contact forces.

Parameters:

lineLength	Length of the force vector
contactPoint	Vector specifying the point of the contact
contactForce	Force of the contact force

Returns:: osg::MatrixTransform pointer to the TF containing the force vector node

void ContactForceVisual::update	(	float	lineLength,
		const Eigen::Vector3d &	contactPoint,
		const Eigen::Vector3d &	contactForce
	)

update the contact force visual

Parameters:

lineLength	Length of the force vector
contactPoint	Vector specifying the point of the contact
contactForce	Force of the contact force

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