gcop::Kinbody3dView< _nu > Class Template Reference

#include <kinbody3dview.h>

Inheritance diagram for gcop::Kinbody3dView< _nu >:

Collaboration diagram for gcop::Kinbody3dView< _nu >:

List of all members.

Public Member Functions
	Kinbody3dView (const Kinbody3d< _nu > &sys)
	Kinbody3dView (const Kinbody3d< _nu > &sys, vector< Matrix4d > *xs, vector< Vectorud > *us=0)
virtual	~Kinbody3dView ()
virtual void	Render (const Matrix4d *x, const Vectorud *u=0)
void	Render (const vector< Matrix4d > *xs, const vector< Vectorud > *us=0, bool rs=true, int is=-1, int ie=-1, int dis=1, int dit=1, bool dl=false)
Static Public Member Functions
static void	Transform (const Matrix3d &R, const Vector3d &p)
Public Attributes
const Kinbody3d< _nu > &	sys
GLUquadricObj *	qobj
double	dirSize

template<int _nu = 6>
class gcop::Kinbody3dView< _nu >

---

Constructor & Destructor Documentation

template<int _nu>

Kinbody3dView::Kinbody3dView

(

const Kinbody3d< _nu > &

sys

)

Create a particle view of trajectory traj

Parameters:

sys

particle

References gcop::Kinbody3dView< _nu >::dirSize, gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >::lineWidth, gcop::Kinbody3dView< _nu >::qobj, and gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >::rgba.

template<int _nu>

Kinbody3dView::Kinbody3dView	(	const Kinbody3d< _nu > &	sys,
		vector< Matrix4d > *	xs,
		vector< Vectorud > *	us = 0
	)

Create a particle view of trajectory traj

Parameters:

sys	particle
xs	trajectory

References gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >::lineWidth, gcop::Kinbody3dView< _nu >::qobj, and gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >::rgba.

template<int _nu>

Kinbody3dView::~Kinbody3dView

(

)

[virtual]

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Member Function Documentation

template<int _nu>

void Kinbody3dView::Render	(	const Matrix4d *	x,
		const Vectorud *	u = 0
	)		[virtual]

Implements gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >.

template<int _nu>

void Kinbody3dView::Render	(	const vector< Matrix4d > *	xs,
		const vector< Vectorud > *	us = 0,
		bool	rs = true,
		int	is = -1,
		int	ie = -1,
		int	dis = 1,
		int	dit = 1,
		bool	dl = false
	)		[virtual]

Render a trajectory

Parameters:

traj	trajectory
rs	render state
is	start index
ie	end index
dis	index step for rendering bodies along trajectory
dit	index step for rendering states(points) along trajectory
dl	always draw last state

Implements gcop::SystemView< Matrix4d, Matrix< double, _nu, 1 > >.

References gcop::Viewer::SetColor().

template<int _nu>

void Kinbody3dView::Transform	(	const Matrix3d &	R,
		const Vector3d &	p
	)		[static]

References gcop::SO3::Instance(), gcop::SO3::log(), and gcop::SO3::tol.

---

Member Data Documentation

template<int _nu = 6>

double gcop::Kinbody3dView< _nu >::dirSize

Referenced by gcop::Kinbody3dView< _nu >::Kinbody3dView().

template<int _nu = 6>

GLUquadricObj* gcop::Kinbody3dView< _nu >::qobj

Referenced by gcop::Kinbody3dView< _nu >::Kinbody3dView().

template<int _nu = 6>

const Kinbody3d<_nu>& gcop::Kinbody3dView< _nu >::sys

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

• lib/views/kinbody3dview.h