gcop::SystemView< Tx, Tu > Class Template Reference

#include <systemview.h>

Inheritance diagram for gcop::SystemView< Tx, Tu >:

Collaboration diagram for gcop::SystemView< Tx, Tu >:

List of all members.

Public Member Functions
	SystemView (const char *name=0, vector< Tx > *xs=0, vector< Tu > *us=0)
virtual	~SystemView ()
virtual void	Render (const Tx *x, const Tu *u=0)=0
virtual void	Render (const vector< Tx > *xs, const vector< Tu > *us=0, bool rs=true, int is=-1, int ie=-1, int dis=1, int dit=1, bool dl=true)=0
virtual void	Render ()
virtual bool	RenderFrame (int i)
void	SetColor (const double rgba[4])
Public Attributes
vector< Tx > *	xs
	trajectory to render
vector< Tu > *	us
	controls to render
int	dis
	when rendering a trajectory only render a body corresponding to every di-th state (default is 1)
int	dit
	when rendering a trajectory only put a point at every di-th state (default is 1)
double	rgba [4]
	color
double	lineWidth
	trajectory line width (default is 1)
bool	renderSystem
	whether to render the physical system (e.g. a body)
bool	renderForces
	whether to render forces

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Detailed Description

template<typename Tx, typename Tu>
class gcop::SystemView< Tx, Tu >

Discrete Dynamical system view.

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Constructor & Destructor Documentation

template<typename Tx, typename Tu>

gcop::SystemView< Tx, Tu >::SystemView	(	const char *	name = 0,
		vector< Tx > *	xs = 0,
		vector< Tu > *	us = 0
	)

Create a view for a single state s

Parameters:

name	name
s	rigid body state

References gcop::SystemView< Tx, Tu >::rgba.

template<typename Tx , typename Tu >

gcop::SystemView< Tx, Tu >::~SystemView

(

)

[virtual]

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Member Function Documentation

template<typename Tx, typename Tu>

virtual void gcop::SystemView< Tx, Tu >::Render	(	const Tx *	x,
		const Tu *	u = 0
	)		[pure virtual]

Implemented in gcop::Kinbody3dView< _nu >, gcop::Body3dView< c >, gcop::Body3dView< 4 >, gcop::UuvView< c >, gcop::Body2dView< c >, gcop::MbsView, gcop::Kinbody2dView, gcop::CarView, gcop::AirplaneView, gcop::GunicycleView, gcop::Particle2dView, gcop::Point3dView, gcop::RccarView, gcop::UnicycleView, and gcop::Normal2dView< _n >.

template<typename Tx, typename Tu>

virtual void gcop::SystemView< Tx, Tu >::Render	(	const vector< Tx > *	xs,
		const vector< Tu > *	us = 0,
		bool	rs = true,
		int	is = -1,
		int	ie = -1,
		int	dis = 1,
		int	dit = 1,
		bool	dl = true
	)		[pure 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

Implemented in gcop::Kinbody3dView< _nu >, gcop::Body3dView< c >, gcop::Body3dView< 4 >, gcop::UuvView< c >, gcop::Body2dView< c >, gcop::MbsView, gcop::Kinbody2dView, gcop::CarView, gcop::AirplaneView, gcop::GunicycleView, gcop::Particle2dView, gcop::Point3dView, gcop::RccarView, gcop::UnicycleView, and gcop::Normal2dView< _n >.

template<typename Tx, typename Tu>

void gcop::SystemView< Tx, Tu >::Render

(

)

[virtual]

Render a view: all subclasses should provide this method

Reimplemented from gcop::View.

template<typename Tx , typename Tu >

bool gcop::SystemView< Tx, Tu >::RenderFrame

(

int

i

)

[virtual]

Render a view: all subclasses should provide this method

Parameters:

i

frame #

Returns:

return true if more frames should be rendered

Reimplemented from gcop::View.

template<typename Tx , typename Tu >

void gcop::SystemView< Tx, Tu >::SetColor

(

const double

rgba[4]

)

Set the rgb color of the trajectory

Parameters:

rgb	rgb vector

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Member Data Documentation

template<typename Tx, typename Tu>

int gcop::SystemView< Tx, Tu >::dis

when rendering a trajectory only render a body corresponding to every di-th state (default is 1)

template<typename Tx, typename Tu>

int gcop::SystemView< Tx, Tu >::dit

when rendering a trajectory only put a point at every di-th state (default is 1)

template<typename Tx, typename Tu>

double gcop::SystemView< Tx, Tu >::lineWidth

trajectory line width (default is 1)

template<typename Tx, typename Tu>

bool gcop::SystemView< Tx, Tu >::renderForces

whether to render forces

template<typename Tx, typename Tu>

bool gcop::SystemView< Tx, Tu >::renderSystem

whether to render the physical system (e.g. a body)

template<typename Tx, typename Tu>

double gcop::SystemView< Tx, Tu >::rgba[4]

color

Referenced by gcop::SystemView< Tx, Tu >::SystemView().

template<typename Tx, typename Tu>

vector<Tu>* gcop::SystemView< Tx, Tu >::us

controls to render

template<typename Tx, typename Tu>

vector<Tx>* gcop::SystemView< Tx, Tu >::xs

trajectory to render

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

• lib/views/systemview.h