SimTK::CableObstacle::ViaPoint Class Reference

This is a point through which the cable must pass. More...

Inheritance diagram for SimTK::CableObstacle::ViaPoint:

Public Member Functions
	ViaPoint ()
	Default constructor creates an empty handle. More...
	ViaPoint (CablePath &path, const MobilizedBody &viaMobod, const Vec3 &defaultStation)
	Insert a via point obstacle to the given cable path. More...
Public Member Functions inherited from SimTK::CableObstacle
	CableObstacle ()
	Create an empty obstacle handle that can refer to any type of obstacle. More...
	CableObstacle (CablePath &path)
	Insert this obstacle into the given cable path. More...
	CableObstacle (const CableObstacle &source)
	Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source. More...
CableObstacle &	operator= (const CableObstacle &source)
	Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source. More...
	~CableObstacle ()
	Destructor clears the handle, deleting the referenced object if this was the last reference. More...
const Transform &	getDefaultTransform () const
	Return the default pose X_BS of the obstacle S on its body B. More...
const MobilizedBody &	getMobilizedBody () const
	Get a reference to the Mobilized body to which this obstacle is fixed. More...
const CablePath &	getCablePath () const
	Return a reference to the CablePath in which this obstacle resides. More...
CableObstacleIndex	getObstacleIndex () const
	Return the obstacle index within this obstacle's CablePath. More...
const DecorativeGeometry &	getDecorativeGeometry () const
	Return decorative geometry that can be used to display this obstacle. More...
DecorativeGeometry &	updDecorativeGeometry ()
	Obtain writable access to the decorative geometry stored with this obstacle so you can modify it. More...
bool	isDisabledByDefault () const
	Is this obstacle disabled by default? Note that this does not tell you whether it is currently disabled, just the setting that determines how it is treated when the system is first constructed. More...
CableObstacle &	setDisabledByDefault (bool shouldBeDisabled)
	Set the "disabled by default" flag. More...
CableObstacle &	setDefaultTransform (const Transform &X_BS)
	Replace the default transform for this obstacle; this is usually set in the constructor. More...
CableObstacle &	setDecorativeGeometry (const DecorativeGeometry &viz)
	Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path. More...
void	clear ()
	Clear this handle, deleting the referenced object if this was the last reference. More...
bool	isEmpty () const
	See if this handle is empty. More...
const Impl &	getImpl () const
Impl &	updImpl ()

Static Public Member Functions
static bool	isInstance (const CableObstacle &)
	Return true if the given CableObstacle is a ViaPoint. More...
static const ViaPoint &	downcast (const CableObstacle &)
	Cast the given CableObstacle to a const ViaPoint; will throw an exception if the obstacle is not a via point. More...
static ViaPoint &	updDowncast (CableObstacle &)
	Cast the given CableObstacle to a writable ViaPoint; will throw an exception if the obstacle is not a via point. More...

Additional Inherited Members
Protected Member Functions inherited from SimTK::CableObstacle
	CableObstacle (Impl *impl)

Detailed Description

This is a point through which the cable must pass.

Constructor & Destructor Documentation

SimTK::CableObstacle::ViaPoint::ViaPoint ( )

inline

Default constructor creates an empty handle.

SimTK::CableObstacle::ViaPoint::ViaPoint	(	CablePath &	path,
		const MobilizedBody &	viaMobod,
		const Vec3 &	defaultStation
	)

Insert a via point obstacle to the given cable path.

Member Function Documentation

static bool SimTK::CableObstacle::ViaPoint::isInstance ( const CableObstacle &  )

static

Return true if the given CableObstacle is a ViaPoint.

static const ViaPoint& SimTK::CableObstacle::ViaPoint::downcast ( const CableObstacle &  )

static

Cast the given CableObstacle to a const ViaPoint; will throw an exception if the obstacle is not a via point.

static ViaPoint& SimTK::CableObstacle::ViaPoint::updDowncast ( CableObstacle &  )

static

Cast the given CableObstacle to a writable ViaPoint; will throw an exception if the obstacle is not a via point.

---

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

• CablePath.h