Simbody  3.7
SimTK::CableObstacle Class Reference

An obstacle is any significant object along the cable path – one of the end points, a via point, or a surface. More...

+ Inheritance diagram for SimTK::CableObstacle:

Classes

class  Surface
 This obstacle is a solid object represented by a ContactGeometry surface. More...
 
class  ViaPoint
 This is a point through which the cable must pass. More...
 

Public Member Functions

 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...
 
CableObstacleoperator= (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 TransformgetDefaultTransform () const
 Return the default pose X_BS of the obstacle S on its body B. More...
 
const MobilizedBodygetMobilizedBody () const
 Get a reference to the Mobilized body to which this obstacle is fixed. More...
 
const CablePathgetCablePath () 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 DecorativeGeometrygetDecorativeGeometry () const
 Return decorative geometry that can be used to display this obstacle. More...
 
DecorativeGeometryupdDecorativeGeometry ()
 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...
 
CableObstaclesetDisabledByDefault (bool shouldBeDisabled)
 Set the "disabled by default" flag. More...
 
CableObstaclesetDefaultTransform (const Transform &X_BS)
 Replace the default transform for this obstacle; this is usually set in the constructor. More...
 
CableObstaclesetDecorativeGeometry (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 ()
 

Protected Member Functions

 CableObstacle (Impl *impl)
 

Detailed Description

An obstacle is any significant object along the cable path – one of the end points, a via point, or a surface.

This is the base class that can refer to any kind of obstacles; specific types are derived from this one.

Constructor & Destructor Documentation

◆ CableObstacle() [1/4]

SimTK::CableObstacle::CableObstacle ( )
inline

Create an empty obstacle handle that can refer to any type of obstacle.

◆ CableObstacle() [2/4]

SimTK::CableObstacle::CableObstacle ( CablePath path)
explicit

Insert this obstacle into the given cable path.

◆ CableObstacle() [3/4]

SimTK::CableObstacle::CableObstacle ( const CableObstacle source)

Copy constructor is shallow and reference-counted; this handle will point to the same object as does the source.

◆ ~CableObstacle()

SimTK::CableObstacle::~CableObstacle ( )
inline

Destructor clears the handle, deleting the referenced object if this was the last reference.

◆ CableObstacle() [4/4]

SimTK::CableObstacle::CableObstacle ( Impl *  impl)
explicitprotected

Member Function Documentation

◆ operator=()

CableObstacle& SimTK::CableObstacle::operator= ( const CableObstacle source)

Copy assignment is shallow and reference-counted; this handle will point to the same object as does the source.

◆ getDefaultTransform()

const Transform& SimTK::CableObstacle::getDefaultTransform ( ) const

Return the default pose X_BS of the obstacle S on its body B.

For a via point, the point is located at the S frame origin whose position vector in B is X_BS.p().

◆ getMobilizedBody()

const MobilizedBody& SimTK::CableObstacle::getMobilizedBody ( ) const

Get a reference to the Mobilized body to which this obstacle is fixed.

There can be multiple objects on a single body, so this is not necessarily unique within a path.

◆ getCablePath()

const CablePath& SimTK::CableObstacle::getCablePath ( ) const

Return a reference to the CablePath in which this obstacle resides.

◆ getObstacleIndex()

CableObstacleIndex SimTK::CableObstacle::getObstacleIndex ( ) const

Return the obstacle index within this obstacle's CablePath.

◆ getDecorativeGeometry()

const DecorativeGeometry& SimTK::CableObstacle::getDecorativeGeometry ( ) const

Return decorative geometry that can be used to display this obstacle.

The decorative geometry's coordinate frame is coincident with the obstacle's coordinate frame S.

◆ updDecorativeGeometry()

DecorativeGeometry& SimTK::CableObstacle::updDecorativeGeometry ( )

Obtain writable access to the decorative geometry stored with this obstacle so you can modify it.

If you want to replace the decorative geometry altogether use setDecorativeGeometry().

◆ isDisabledByDefault()

bool SimTK::CableObstacle::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.

◆ setDisabledByDefault()

CableObstacle& SimTK::CableObstacle::setDisabledByDefault ( bool  shouldBeDisabled)

Set the "disabled by default" flag.

This controls whether the obstacle is included for consideration in the cable path when the system is first constructed; it does not affect the current setting.

◆ setDefaultTransform()

CableObstacle& SimTK::CableObstacle::setDefaultTransform ( const Transform X_BS)

Replace the default transform for this obstacle; this is usually set in the constructor.

◆ setDecorativeGeometry()

CableObstacle& SimTK::CableObstacle::setDecorativeGeometry ( const DecorativeGeometry viz)

Replace the decorative geometry used for automatically-generated visualization of this obstacle when visualizing the cable path.

It is up to you to make sure the geometry is actually representative of the obstacle – no one is going to check.

◆ clear()

void SimTK::CableObstacle::clear ( )

Clear this handle, deleting the referenced object if this was the last reference.

◆ isEmpty()

bool SimTK::CableObstacle::isEmpty ( ) const
inline

See if this handle is empty.

◆ getImpl()

const Impl& SimTK::CableObstacle::getImpl ( ) const
inline

◆ updImpl()

Impl& SimTK::CableObstacle::updImpl ( )
inline

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