Class which inherits osg::Group. More...

#include <SkeletonNode.h>

Public Member Functions
	SkeletonNode (const dart::dynamics::Skeleton &skeleton, bool debug=false)
	Constructor for SkeletonNode.
	~SkeletonNode ()
	Destructor for SkeletonNode.
void	update ()
	Update SkeletonNode MatrixTransforms based on the dart::Skeleton BodyNode world transforms. This is done recursively by traversing through the Skeleton bodyNodes and their children.
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	setBodyNodeCoMVisible (bool makeVisible=false)
	Shows or hides the individual link center of masses, represented by a sphere. Currently not implemented.
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	setSkeletonRenderMode (renderMode_t renderMode)
	Set the render mode of the Skeleton.
void	setBodyNodeTransparency (const dart::dynamics::BodyNode &node, float transparencyValue)
	Sets the transparency value of the specified BodyNode.
const dart::dynamics::BodyNode &	getRootBodyNode ()
	Get root body node.
Protected Member Functions
void	_createSkeleton ()
	Create the osg skeleton from the root BodyNode by traversing its children and creating osg::Nodes for each physical BodyNode and putting them inside a osg::MatrixTransform with it transform set to the BodyNode's world transform.
void	_addSkeletonVisuals ()
	Add visual elements of skeleton that can be toggled on or off, such as the center of mass.
void	_addSkeletonObjectsRecursivley (const dart::dynamics::BodyNode &bodyNode)
	Recursively build osg skeleton starting with a BodyNode and recursively creating its children. An osg::MatrixTransform get created whose transform corresponds to the BodyNode's world transform and then an osg::Group node gets created from the BodyNode's shape information and get put inside the osg::MatrixTransform. Finally the osg::MatrixTransform gets added as a child to the root node of the SkeletonNode and it will recursively add osg::MatrixTransforms and Geode for all the children.
osg::Group *	_makeBodyNodeGroup (const dart::dynamics::BodyNode &node)
	Create osg::Group* object from a dart::dynamics::BodyNode passed in by reference. It generates the shape information in an OpenSceneGraph format, looping through the BodyNode's visualization shapes and converting them from aiScene objects to osg::Node objects and adding them as children to the BodyNode osg::Group.
osg::Group *	_makeBodyNodeCollisionMeshGroup (const dart::dynamics::BodyNode &node)
	Create osg::Group* object from a dart::dynamics::BodyNode passed in by reference. It generates the shape information in an OpenSceneGraph format, looping through the BodyNode's collision shapes and converting them from aiScene objects to osg::Node objects and adding them as children to the BodyNode osg::Group.
osgDart::BodyNodeVisuals *	_makeBodyNodeVisuals (const dart::dynamics::BodyNode &node)
	Create an osgDart::BodyNodeVisuals* object from a dart::dynamics::BodyNode passed in by reference. It generates the BodyNode specific visuals such as link frame and joint axis for the passed-in BodyNode.
void	_addVisualizationShapesFromBodyNode (const dart::dynamics::BodyNode &node)
	Convert BodyNode visualization shapes to osg shapes.
void	_addCollisionShapesFromBodyNode (const dart::dynamics::BodyNode &node)
	Convert BodyNode collision shapes to osg shapes.
void	_updateRecursively (const dart::dynamics::BodyNode &bodyNode)
	Update SkeletonNode recursively based on Skeleton transforms. This traverses through each BodyNode and its child BodyNodes and updates corresponding osg::MatrixTransform based on their current world transform.
void	_updateSkeletonVisuals ()
	Updates the skeleton visuals.
Protected Attributes
const dart::dynamics::BodyNode &	_rootBodyNode
	Root BodyNode.
std::vector< osg::ref_ptr < osg::Group > >	_bodyNodeGroups
	Array of osg::Group pointers for the dart::dynamics::BodyNode visualization objects.
std::vector< osg::ref_ptr < osgDart::BodyNodeVisuals > >	_bodyNodeVisuals
	Array of osgDart::BodyNodeVisuals ref pointers for showing/hiding them.
osg::ref_ptr < osgDart::SkeletonVisuals >	_skeletonVisuals
	osgDart::SkeletonVisuals ref pointer for showing/hiding them
std::vector< osg::ref_ptr < osg::Group > >	_bodyNodeCollisionMeshGroups
	Array of osg::Group ref pointers for showing/hiding them.
BodyNodeMatrixMap	_bodyNodeMatrixMap
	Map from dart::dynamics::Joint* to osg::MatrixTransform*.
BodyNodeGroupMap	_bodyNodeGroupMap
	Map from dart::dynamics::BodyNode* to osg::Group* for the visualization shapes.
BodyNodeGroupMap	_bodyNodeCollsionMeshGroupMap
	Map from dart::dynamics::BodyNode* to osg::Group* for the collision shapes.
BodyNodeVisualsMap	_bodyNodeVisualsMap
	Map from dart::dynamics::BodyNode* to osgDart::BodyNodeVisuals for BodyNode visual shapes.
const bool	_debug
	Debug variable for whether or not to print debug output.

Detailed Description

Class which inherits osg::Group.

Constructor & Destructor Documentation

SkeletonNode::SkeletonNode	(	const dart::dynamics::Skeleton &	skeleton,
		bool	debug = `false`
	)

Constructor for SkeletonNode.

Parameters:

skeleton	A dart::dynamics::Skeleton pointer from which to create the osg skeleton
axisLength	Length of the joint axes (meters)
debug	Debug flag for printing debug statements to standard error

Member Function Documentation

void SkeletonNode::_addCollisionShapesFromBodyNode ( const dart::dynamics::BodyNode & node ) [protected]

Convert BodyNode collision shapes to osg shapes.

Parameters:

node	BodyNode to get the collision shapes from

Returns:: void

void SkeletonNode::_addSkeletonObjectsRecursivley ( const dart::dynamics::BodyNode & bodyNode ) [protected]

Recursively build osg skeleton starting with a BodyNode and recursively creating its children. An osg::MatrixTransform get created whose transform corresponds to the BodyNode's world transform and then an osg::Group node gets created from the BodyNode's shape information and get put inside the osg::MatrixTransform. Finally the osg::MatrixTransform gets added as a child to the root node of the SkeletonNode and it will recursively add osg::MatrixTransforms and Geode for all the children.

Parameters:

bodyNode The BodyNode to add to the osg skeleton along with its children

void SkeletonNode::_addSkeletonVisuals ( ) [protected]

Add visual elements of skeleton that can be toggled on or off, such as the center of mass.

Returns:: void

void SkeletonNode::_addVisualizationShapesFromBodyNode ( const dart::dynamics::BodyNode & node ) [protected]

Convert BodyNode visualization shapes to osg shapes.

Parameters:

node	BodyNode to get shapes from

Returns:: void

void SkeletonNode::_createSkeleton ( ) [protected]

Create the osg skeleton from the root BodyNode by traversing its children and creating osg::Nodes for each physical BodyNode and putting them inside a osg::MatrixTransform with it transform set to the BodyNode's world transform.

Parameters:

rootBodyNode The root of the skeleton

Returns:: void

osg::Group * SkeletonNode::_makeBodyNodeCollisionMeshGroup ( const dart::dynamics::BodyNode & node ) [protected]

Create osg::Group* object from a dart::dynamics::BodyNode passed in by reference. It generates the shape information in an OpenSceneGraph format, looping through the BodyNode's collision shapes and converting them from aiScene objects to osg::Node objects and adding them as children to the BodyNode osg::Group.

Parameters:

node	const dart::dynamics::BodyNode reference of which to make an osg::Group*

Returns:: osg::Group* The osg::Group* corresponding to the dart::dynamics::BodyNode's collision shape

osg::Group * SkeletonNode::_makeBodyNodeGroup ( const dart::dynamics::BodyNode & node ) [protected]

Create osg::Group* object from a dart::dynamics::BodyNode passed in by reference. It generates the shape information in an OpenSceneGraph format, looping through the BodyNode's visualization shapes and converting them from aiScene objects to osg::Node objects and adding them as children to the BodyNode osg::Group.

Parameters:

node	dart::dynamics::BodyNode of which to make an osg::Group*

Returns:: osg::Group* The osg::Group* corresponding to the dart::dynamics::BodyNode

osgDart::BodyNodeVisuals * SkeletonNode::_makeBodyNodeVisuals ( const dart::dynamics::BodyNode & node ) [protected]

Create an osgDart::BodyNodeVisuals* object from a dart::dynamics::BodyNode passed in by reference. It generates the BodyNode specific visuals such as link frame and joint axis for the passed-in BodyNode.

Parameters:

node	const dart::dynamics::BodyNode reference for which to create visuals.

Returns:: osgDart::BodyNodeVisuals pointer corresponding to the BodyNode's osg visuals

void SkeletonNode::_updateRecursively ( const dart::dynamics::BodyNode & bodyNode ) [protected]

Update SkeletonNode recursively based on Skeleton transforms. This traverses through each BodyNode and its child BodyNodes and updates corresponding osg::MatrixTransform based on their current world transform.

Parameters:

bodyNode BodyNode used to update the osg::MatrixTransform and its children

Returns:: void

void SkeletonNode::_updateSkeletonVisuals ( ) [protected]

Updates the skeleton visuals.

Returns:: void

const dart::dynamics::BodyNode & SkeletonNode::getRootBodyNode ( )

Get root body node.

Returns:: dart::dynamics::BodyNode pointer to the root body node

void SkeletonNode::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 osgDart::SkeletonNode::setBodyNodeCoMVisible ( bool makeVisible = false )

Shows or hides the individual link center of masses, represented by a sphere. Currently not implemented.

Parameters:

makeVisible Whether or not to visualize link center of masses

Returns:: void

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

Sets the transparency value of the specified BodyNode.

Parameters:

node	dart::dynamics::BodyNode of which to set the transparency
transparencyValue	New transparency value for the node

Returns:: void

void SkeletonNode::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 SkeletonNode::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 SkeletonNode::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 SkeletonNode::setSkeletonRenderMode ( renderMode_t renderMode )

Set the render mode of the Skeleton.

Parameters:

renderMode The render mode specified by the enumeration, renderMode_t

Returns:: void

void SkeletonNode::update ( )

Update SkeletonNode MatrixTransforms based on the dart::Skeleton BodyNode world transforms. This is done recursively by traversing through the Skeleton bodyNodes and their children.

Returns:: void

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

/home/pete/myRepos/grip2/osgDart/SkeletonNode.h
/home/pete/myRepos/grip2/osgDart/src/SkeletonNode.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation