gcop::MbsView Class Reference

#include <mbsview.h>

Inheritance diagram for gcop::MbsView:

Collaboration diagram for gcop::MbsView:

List of all members.

Public Member Functions
	MbsView (const Mbs &sys, vector< MbsState > *xs=0, vector< VectorXd > *us=0)
virtual	~MbsView ()
virtual void	Render (const MbsState *x, const VectorXd *u=0)
void	Render (const vector< MbsState > *xs, const vector< VectorXd > *us=0, bool rs=true, int is=-1, int ie=-1, int dis=1, int dit=1, bool dl=false)
Public Attributes
const Mbs &	sys
GLUquadricObj *	qobj
double	dirSize
vector< Geom3dView * >	geomViews

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Constructor & Destructor Documentation

MbsView::MbsView	(	const Mbs &	sys,
		vector< MbsState > *	xs = 0,
		vector< VectorXd > *	us = 0
	)

Create a particle view of trajectory traj

Parameters:

sys	particle
xs	trajectory

References gcop::SystemView< MbsState, VectorXd >::lineWidth, qobj, and gcop::SystemView< MbsState, VectorXd >::rgba.

MbsView::~MbsView

(

)

[virtual]

References qobj.

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Member Function Documentation

void MbsView::Render	(	const MbsState *	x,
		const VectorXd *	u = 0
	)		[virtual]

Implements gcop::SystemView< MbsState, VectorXd >.

References geomViews, gcop::MbsState::gs, gcop::Mbs::nb, sys, and gcop::Geom3dView::Transform().

void MbsView::Render	(	const vector< MbsState > *	xs,
		const vector< VectorXd > *	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< MbsState, VectorXd >.

References gcop::SystemView< MbsState, VectorXd >::dis, gcop::SystemView< MbsState, VectorXd >::dit, gcop::MbsState::gs, gcop::SystemView< MbsState, VectorXd >::lineWidth, gcop::SystemView< MbsState, VectorXd >::Render(), gcop::SystemView< MbsState, VectorXd >::rgba, and gcop::SystemView< MbsState, VectorXd >::SetColor().

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Member Data Documentation

double gcop::MbsView::dirSize

vector<Geom3dView*> gcop::MbsView::geomViews

Referenced by gcop::AirbotView::AirbotView(), gcop::AirmView::AirmView(), gcop::ChainView::ChainView(), Render(), and gcop::SnakeView::SnakeView().

GLUquadricObj* gcop::MbsView::qobj

Referenced by MbsView(), and ~MbsView().

const Mbs& gcop::MbsView::sys

Referenced by Render(), and gcop::ChainView::~ChainView().

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

• lib/views/mbsview.h
• lib/views/mbsview.cc