Simbody  3.7
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...
 
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 ()
 

Static Public Member Functions

static bool isInstance (const CableObstacle &)
 Return true if the given CableObstacle is a ViaPoint. More...
 
static const ViaPointdowncast (const CableObstacle &)
 Cast the given CableObstacle to a const ViaPoint; will throw an exception if the obstacle is not a via point. More...
 
static ViaPointupdDowncast (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

◆ ViaPoint() [1/2]

Default constructor creates an empty handle.

◆ ViaPoint() [2/2]

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

◆ isInstance()

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

Return true if the given CableObstacle is a ViaPoint.

◆ downcast()

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.

◆ updDowncast()

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: