#include <dynamics2d_footbot_model.h>

Inheritance diagram for argos::CDynamics2DFootBotModel:

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Collaboration diagram for argos::CDynamics2DFootBotModel:

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Public Member Functions
	CDynamics2DFootBotModel (CDynamics2DEngine &c_engine, CFootBotEntity &c_entity)

virtual	~CDynamics2DFootBotModel ()

virtual void	MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation)

virtual void	Reset ()

virtual void	CalculateBoundingBox ()
	Calculates the axis-aligned box that contains the entire physics model. More...

virtual void	UpdateFromEntityStatus ()
	Updates the state of this model from the status of the associated entity. More...

void	UpdateOriginAnchor (SAnchor &s_anchor)

void	UpdateTurretAnchor (SAnchor &s_anchor)

void	UpdatePerspectiveCameraAnchor (SAnchor &s_anchor)

cpBody *	GetActualBaseBody ()

const cpBody *	GetActualBaseBody () const

cpBody *	GetActualGripperBody ()

const cpBody *	GetActualGripperBody () const

Public Member Functions inherited from argos::CDynamics2DMultiBodyObjectModel
	CDynamics2DMultiBodyObjectModel (CDynamics2DEngine &c_engine, CComposableEntity &c_entity)
	Class constructor. More...

virtual	~CDynamics2DMultiBodyObjectModel ()
	Class destructor. More...

CComposableEntity &	GetComposableEntity ()
	Returns the associated composable entity as a non-const reference. More...

const CComposableEntity &	GetComposableEntity () const
	Returns the associated composable entity as a const reference. More...

SBody &	GetBody (size_t i)
	Returns the i-th body associated to the model. More...

const SBody &	GetBody (size_t i) const
	Returns the i-th body associated to the model. More...

virtual bool	IsCollidingWithSomething () const
	Returns `true` if this model is colliding with another model. More...

virtual void	AddBody (cpBody *pt_body, const cpVect &t_offset_pos, cpFloat t_offset_orient, Real f_height)
	Adds a body. More...

Public Member Functions inherited from argos::CDynamics2DModel
	CDynamics2DModel (CDynamics2DEngine &c_engine, CEmbodiedEntity &c_entity)

virtual	~CDynamics2DModel ()

CDynamics2DEngine &	GetDynamics2DEngine ()
	Returns the dynamics 2D engine state. More...

const CDynamics2DEngine &	GetDynamics2DEngine () const
	Returns the dynamics 2D engine state as a const reference. More...

Public Member Functions inherited from argos::CPhysicsModel
	CPhysicsModel (CPhysicsEngine &c_engine, CEmbodiedEntity &c_entity)

virtual	~CPhysicsModel ()

CPhysicsEngine &	GetEngine ()
	Returns the physics engine associated to this physics model. More...

CEmbodiedEntity &	GetEmbodiedEntity ()
	Returns the embodied entity associated to this physics model. More...

const CEmbodiedEntity &	GetEmbodiedEntity () const
	Returns the embodied entity associated to this physics model. More...

virtual void	UpdateEntityStatus ()
	Updates the status of the associated entity. More...

virtual void	UpdatePhysics ()
	Performs extra work just before the physics update takes place. More...

const SBoundingBox &	GetBoundingBox () const
	Returns an axis-aligned box that contains the physics model. More...

virtual void	CalculateAnchors ()
	Calculates the anchors associated to this model. More...

SBoundingBox &	GetBoundingBox ()
	Returns an axis-aligned box that contains the physics model. More...

template<typename MODEL >
void	RegisterAnchorMethod (const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
	Registers an anchor method. More...

Additional Inherited Members
Public Types inherited from argos::CDynamics2DModel
typedef std::map< std::string, CDynamics2DModel * >	TMap

Public Types inherited from argos::CPhysicsModel
typedef std::map< std::string, CPhysicsModel * >	TMap

typedef std::vector< CPhysicsModel * >	TVector

Detailed Description

Definition at line 22 of file dynamics2d_footbot_model.h.

Constructor & Destructor Documentation

◆ CDynamics2DFootBotModel()

argos::CDynamics2DFootBotModel::CDynamics2DFootBotModel	(	CDynamics2DEngine &	c_engine,
		CFootBotEntity &	c_entity
	)

Definition at line 43 of file dynamics2d_footbot_model.cpp.

◆ ~CDynamics2DFootBotModel()

argos::CDynamics2DFootBotModel::~CDynamics2DFootBotModel ( )

virtual

Definition at line 143 of file dynamics2d_footbot_model.cpp.

Member Function Documentation

◆ CalculateBoundingBox()

void argos::CDynamics2DFootBotModel::CalculateBoundingBox ( )

virtual

Calculates the axis-aligned box that contains the entire physics model.

The bounding box is often called AABB.

Reimplemented from argos::CDynamics2DMultiBodyObjectModel.

Definition at line 202 of file dynamics2d_footbot_model.cpp.

◆ GetActualBaseBody() [1/2]

cpBody* argos::CDynamics2DFootBotModel::GetActualBaseBody ( )

inline

Definition at line 45 of file dynamics2d_footbot_model.h.

◆ GetActualBaseBody() [2/2]

const cpBody* argos::CDynamics2DFootBotModel::GetActualBaseBody ( ) const

inline

Definition at line 49 of file dynamics2d_footbot_model.h.

◆ GetActualGripperBody() [1/2]

cpBody* argos::CDynamics2DFootBotModel::GetActualGripperBody ( )

inline

Definition at line 53 of file dynamics2d_footbot_model.h.

◆ GetActualGripperBody() [2/2]

const cpBody* argos::CDynamics2DFootBotModel::GetActualGripperBody ( ) const

inline

Definition at line 57 of file dynamics2d_footbot_model.h.

◆ MoveTo()

void argos::CDynamics2DFootBotModel::MoveTo	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation
	)

virtual

Moves the entity to the wanted position and orientation within this engine. When you create a new model, you must implement this method. Don't forget to call UpdateEntityStatus() after you've changed the position.

This method should never be called directly from user code. It is called internally by CEmbodiedEntity::MoveTo(), which is meant to be called from user code.

CEmbodiedEntity::MoveTo() never calls this method if the embodied entity is static. This is because static entities cannot be moved around. Thus, there's no need in your code to check whether the associated entity is static.

Parameters

c_position	The wanted position.
c_orientation	The wanted orientation.

Reimplemented from argos::CDynamics2DMultiBodyObjectModel.

Definition at line 169 of file dynamics2d_footbot_model.cpp.

◆ Reset()

void argos::CDynamics2DFootBotModel::Reset ( )

virtual

Reimplemented from argos::CDynamics2DMultiBodyObjectModel.

Definition at line 182 of file dynamics2d_footbot_model.cpp.

◆ UpdateFromEntityStatus()

void argos::CDynamics2DFootBotModel::UpdateFromEntityStatus ( )

virtual

Updates the state of this model from the status of the associated entity.

This method takes the current state of the associated entity (e.g., desired wheel speed, turret rotationss, etc.) and updates the state of this model. Typically, in this method you apply forces and set speeds.

Implements argos::CDynamics2DMultiBodyObjectModel.

Definition at line 214 of file dynamics2d_footbot_model.cpp.