osgDart::DartNode Class Reference

Class that is a subclass of osg::Group, which is the main object for DART visualization in OpenSceneGraph. It can contain many SkeletonNodes as parts of a simulation world. In essence, a DartNode is the largest visualization object. More...

#include <DartNode.h>

List of all members.

Public Member Functions
	DartNode (bool debug=false)
	Constructor for DartNode.
void	_updateContactForces ()
	Creates arrows for contact forces in the world during simulation.
void	setContactForcesVisible (bool makeVisible)
	Toggles contact forces visibility on/off.
dart::dynamics::Skeleton *	parseSkeletonUrdf (std::string urdfFile)
	Create a dart::dynamics::Skeleton pointer from a skeleton urdf file using DART's DartLoader.
dart::simulation::World *	parseWorldSdf (std::string sdfFile)
	Create a dart::simulation::World pointer from a world sdf file using DART's Sdf parser.
dart::simulation::World *	parseWorldUrdf (std::string urdfFile)
	Create a dart::simulation::World pointer from a world urdf file using DART's DartLoader.
int	addWorldFromUrdf (std::string urdfFile)
	Add a dart::simulation::World to the DartNode using the name of a world urdf file.
size_t	addWorldFromSdf (std::string sdfFile)
	Add a dart::simulation::World to the DartNode using the name of a world sdf file.
size_t	addWorld (std::string file)
	Add dart::simulation::World to the DartNode using the name of a world file.
size_t	addSkeleton (std::string urdfFile)
	Add a dart::dynamics::Skeleton to the DartNode using the name of a skeleton urdf file.
size_t	addSkeleton (dart::dynamics::Skeleton &skeleton)
	Add a skeleton to the DartNode.
size_t	addWorld (dart::simulation::World *world)
	Add a world to the DartNode. The world may consist of one or more objects or skeletons, all represented as Skeletons, each with a world transformation.
dart::dynamics::Skeleton *	getSkeleton (size_t skeletonIndex=0)
	Get skeleton via index (size_t)
int	removeSkeleton (const dart::dynamics::Skeleton *skeletonToRemove)
	Remove skeleton from DartNode by passing in the pointer to the dart::dynamics::Skeleton to be removed.
int	removeSkeleton (size_t skeletonIndex=0)
	Remove skeleton from DartNode by passing in the index of the skeleton to be removed.
void	reset ()
	Clear the DartNode. This is used for when you want to start from scratch but don't want to delete and create a new DartNode.
dart::simulation::World *	getWorld ()
	Get a pointer to the World object in the DartNode.
size_t	getNumSkeletons ()
	Get number of skeletons in the DartNode.
void	printInfo ()
	Print out meta information of the skeleton.
void	update ()
	Updates the transforms of all the dart objects in the SkeletonNodes of the DartNode for the next culling and drawing events.
void	setSkeletonTransparency (const dart::dynamics::Skeleton &skel, float transparencyValue)
	Sets the transparency value of the SkeletonNode corresponding to the dart::dynamics::Skeleton passed in.
void	setBodyNodeTransparency (const dart::dynamics::BodyNode &node, float transparencyValue)
	Sets the transparency value of the osg::Group corresponding to the dart::dynamics::BodyNode passed in.
void	setJointAxesVisible (bool makeVisible=false)
	Shows or hides the individual joint axes. This applies to skeletons with more than one link. A single line with an arrow is displayed representing the axis of rotation of the joint. This currently only applies to revolute joints.
void	setBodyNodeAxesVisible (bool makeVisible=false)
	Shows or hides the individual link frames, represented by x,y,z axes using the color scheme red, green, blue, respectively. Currently this function doesn't account for different sized objects so axes may not be visible for larger objects.
void	setSkeletonCoMVisible (bool makeVisible=false)
	Shows or hides the skeleton's center of mass, represented by a sphere.
void	setSkeletonCoMProjectedVisible (bool makeVisible=false)
	Shows or hides the skeleton's projected center of mass, represented by a circle on the ground.
void	setSkeletonCollisionMeshOn (bool enable=true)
	Render the skeleton using the collision mesh instead of the visual mesh.
void	setSkeletonWireFrameOn (bool enable=true)
	Render the skeleton using wireframe instead of fill mode.
void	hideSkeleton (int i)
	Hide a skeleton.
Protected Member Functions
int	skeletonIndexIsValid (size_t skeletonIndex)
	Helper function to determine if the index the user passed in to specify a skeleton is valid.
Protected Attributes
dart::simulation::World *	_world
	Standard vector of pointers to Skeletons.
std::vector < dart::dynamics::Skeleton * >	_skeletons
	Standard vector of pointers to dart::dynamics::Skeleton objects.
std::vector< osg::ref_ptr < SkeletonNode > >	_skeletonNodes
	Standard vector of pointers to SkeletonNode objects.
SkeletonNodeMap	_skelNodeMap
	Map from dart::dynamics::Skeleton* to osg::SkeletonNode.
std::vector< osg::ref_ptr < osgDart::ContactForceVisual > >	_contactForceArrows
	Array of osg::MatrixTransforms representing contactForces in the world.
const bool	_debug
	Debug variable for whether or not to print debug output.
bool	_showContactForces
	Whether or not to show the contact forces in the visualization.

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Detailed Description

Class that is a subclass of osg::Group, which is the main object for DART visualization in OpenSceneGraph. It can contain many SkeletonNodes as parts of a simulation world. In essence, a DartNode is the largest visualization object.

---

Member Function Documentation

void DartNode::_updateContactForces

(

)

Creates arrows for contact forces in the world during simulation.

Returns:

void

size_t DartNode::addSkeleton

(

std::string

urdfFile

)

Add a dart::dynamics::Skeleton to the DartNode using the name of a skeleton urdf file.

Parameters:

urdfFile

The name of the urdf file

Returns:

Index value of the added skeleton.

size_t DartNode::addSkeleton

(

dart::dynamics::Skeleton &

skeleton

)

Add a skeleton to the DartNode.

Parameters:

skeleton

New skeleton to add to the DartNode

Returns:

Index (size_t) of the newly added skeleton

size_t DartNode::addWorld

(

std::string

file

)

Add dart::simulation::World to the DartNode using the name of a world file.

Parameters:

file	File name of a urdf or sdf

Returns:

Number of skeletons in the DartNode.

size_t DartNode::addWorld

(

dart::simulation::World *

world

)

Add a world to the DartNode. The world may consist of one or more objects or skeletons, all represented as Skeletons, each with a world transformation.

Parameters:

world

The dart::simulation::World object passed in by reference that contains one or more dart::dynamics::Skeleton objects.

Returns:

Index of the last object added

size_t DartNode::addWorldFromSdf

(

std::string

sdfFile

)

Add a dart::simulation::World to the DartNode using the name of a world sdf file.

Parameters:

sdfFile

The name of the sdf file

Returns:

Number of skeletons in the DartNode.

int osgDart::DartNode::addWorldFromUrdf

(

std::string

urdfFile

)

Add a dart::simulation::World to the DartNode using the name of a world urdf file.

Parameters:

urdfFile

The name of the urdf file

Returns:

A success/fail integer. 1 = Success. 0 = Fail.

size_t DartNode::getNumSkeletons

(

)

Get number of skeletons in the DartNode.

Returns:

size_t Number of skeletons in the DartNode

dart::dynamics::Skeleton * DartNode::getSkeleton

(

size_t

skeletonIndex = 0

)

Get skeleton via index (size_t)

Parameters:

skeletonIndex

Index of the skeleton you want

Returns:

a dart::dynamics::Skeleton skeleton

dart::simulation::World * DartNode::getWorld

(

)

Get a pointer to the World object in the DartNode.

Returns:

simulation::World pointer

void DartNode::hideSkeleton

(

int

i

)

Hide a skeleton.

Parameters:

int	skeleton index

Returns:

void

dart::dynamics::Skeleton * DartNode::parseSkeletonUrdf

(

std::string

urdfFile

)

Create a dart::dynamics::Skeleton pointer from a skeleton urdf file using DART's DartLoader.

Parameters:

urdfFile

The name of the urdf file

Returns:

Pointer to the dynamics::Skeleton object

dart::simulation::World * DartNode::parseWorldSdf

(

std::string

sdfFile

)

Create a dart::simulation::World pointer from a world sdf file using DART's Sdf parser.

Parameters:

sdfFile

The name of the world sdf file

Returns:

Pointer to the simulation::World object

dart::simulation::World * DartNode::parseWorldUrdf

(

std::string

urdfFile

)

Create a dart::simulation::World pointer from a world urdf file using DART's DartLoader.

Parameters:

urdfFile

The name of the urdf file

Returns:

Pointer to the simulation::World object

void DartNode::printInfo

(

)

Print out meta information of the skeleton.

Parameters:

skeletonIndex

Index of the skeleton about which to print info

Returns:

void

int DartNode::removeSkeleton

(

const dart::dynamics::Skeleton *

skeletonToRemove

)

Remove skeleton from DartNode by passing in the pointer to the dart::dynamics::Skeleton to be removed.

Parameters:

skeleton

skeleton to remove from the DartNode

Returns:

A success/fail integer. 1 = Success. 0 = Fail.

int DartNode::removeSkeleton

(

size_t

skeletonIndex = 0

)

Remove skeleton from DartNode by passing in the index of the skeleton to be removed.

Parameters:

skeleton

skeleton to remove from the DartNode

Returns:

A success/fail integer. 1 = Success. 0 = Fail.

void DartNode::reset

(

)

Clear the DartNode. This is used for when you want to start from scratch but don't want to delete and create a new DartNode.

Returns:

void

void DartNode::setBodyNodeAxesVisible

(

bool

makeVisible = false

)

Shows or hides the individual link frames, represented by x,y,z axes using the color scheme red, green, blue, respectively. Currently this function doesn't account for different sized objects so axes may not be visible for larger objects.

Parameters:

makeVisible

Whether or not to visualize the link axes

Returns:

void

void DartNode::setBodyNodeTransparency	(	const dart::dynamics::BodyNode &	node,
		float	transparencyValue
	)

Sets the transparency value of the osg::Group corresponding to the dart::dynamics::BodyNode passed in.

Parameters:

node	BodyNode of which to change the transparency value of
transparencyValue	New transparency value for the BodyNode

Returns:

void

void DartNode::setContactForcesVisible

(

bool

makeVisible

)

Toggles contact forces visibility on/off.

Parameters:

makeVisible

Whether or not to make them visible

Returns:

void

void DartNode::setJointAxesVisible

(

bool

makeVisible = false

)

Shows or hides the individual joint axes. This applies to skeletons with more than one link. A single line with an arrow is displayed representing the axis of rotation of the joint. This currently only applies to revolute joints.

Parameters:

makeVisible

Whether or not to visualize the joint axes

Returns:

void

void DartNode::setSkeletonCollisionMeshOn

(

bool

enable = true

)

Render the skeleton using the collision mesh instead of the visual mesh.

Parameters:

enable

Whether or not to enable the collision mesh

Returns:

void

void DartNode::setSkeletonCoMProjectedVisible

(

bool

makeVisible = false

)

Shows or hides the skeleton's projected center of mass, represented by a circle on the ground.

Parameters:

makeVisible

Whether or not to visualize the skeleton's projected center of mass

Returns:

void

void DartNode::setSkeletonCoMVisible

(

bool

makeVisible = false

)

Shows or hides the skeleton's center of mass, represented by a sphere.

Parameters:

makeVisible

Whether or not to visualize the skeleton's center of mass

Returns:

void

void DartNode::setSkeletonTransparency	(	const dart::dynamics::Skeleton &	skel,
		float	transparencyValue
	)

Sets the transparency value of the SkeletonNode corresponding to the dart::dynamics::Skeleton passed in.

Parameters:

skel	Skeleton of which to change the transparency value of
transparencyValue	New transparency value for the skeleton

Returns:

void

void DartNode::setSkeletonWireFrameOn

(

bool

enable = true

)

Render the skeleton using wireframe instead of fill mode.

Parameters:

enable

Whether or not to enable the wireframe mode

Returns:

void

int DartNode::skeletonIndexIsValid

(

size_t

skeletonIndex

)

[protected]

Helper function to determine if the index the user passed in to specify a skeleton is valid.

Parameters:

skeletonIndex

The index of the desired skeleton

Returns:

A success/fail integer. 1 = Success. 0 = Fail.

void DartNode::update

(

)

Updates the transforms of all the dart objects in the SkeletonNodes of the DartNode for the next culling and drawing events.

Returns:

void

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

• /home/pete/myRepos/grip2/osgDart/DartNode.h
• /home/pete/myRepos/grip2/osgDart/src/DartNode.cpp