taoDNode Class Reference

abstract node class for articulated bodyA dynamics node = {Articulated Body Link + Set of associated Joints}. More...

#include <taoDNode.h>

Inheritance diagram for taoDNode:

Collaboration diagram for taoDNode:

Public Member Functions
	taoDNode ()
virtual void	sync (deFrame *local)=0
virtual deInt	isRoot ()
	indicates if this node is root More...
virtual deInt	isParentRoot ()
	indicates if parent of this node is root More...
virtual taoJoint *	getJointList ()=0
virtual taoJoint const *	getJointList () const =0
virtual taoArticulatedBodyLink *	getABNode ()
	gets _abNode More...
virtual void	setABNode (taoArticulatedBodyLink *node)
	sets _abNode More...
virtual deInt	getPropagate ()
	indicates if dynamics of node should be included for control More...
virtual void	setPropagate (deInt p)
virtual deVector6 *	velocity ()=0
virtual deVector6 *	acceleration ()=0
virtual deFrame *	frameHome ()=0
virtual deFrame *	frameLocal ()=0
virtual deFloat *	mass ()=0
virtual deVector3 *	center ()=0
virtual deVector3 const *	center () const =0
virtual deMatrix3 *	inertia ()=0
virtual deVector6 *	force ()=0
virtual void	zeroForce ()=0
virtual void	addForce (const deVector6 *f)=0
virtual void	updateFrame ()=0
virtual void	integrate (deFloat dt)=0
virtual taoDNode *	getDParent ()=0
virtual taoDNode const *	getDParent () const =0
virtual void	setDChild (taoDNode *n)=0
virtual taoDNode *	getDChild ()=0
virtual taoDNode const *	getDChild () const =0
virtual taoDNode *	getDSibling ()=0
virtual taoDNode const *	getDSibling () const =0
virtual deFrame *	frameGlobal ()=0
	global frame for the dynamics computation More...
virtual deFrame const *	frameGlobal () const =0
virtual void	getFrameGraphics (deFrame *Fg)=0
	global frame for graphics display More...
virtual void	setID (const deInt id)
virtual deInt	getID () const
virtual void	setIsFixed (const deInt f)
virtual deInt	getIsFixed ()
virtual deFloat	getCOR ()
virtual deFloat	getCOF_grip ()
virtual deFloat	getCOF_viscous ()
virtual deFloat	getCOF_static ()
virtual deFloat	getCOF_dynamic ()
virtual void	setCOR (deFloat c)
	coefficient of restitution More...

Private Attributes
taoArticulatedBodyLink *	_abNode
deInt	_propagate

Coefficients of friction
where v is velocity, a is acceleration, y is impulse, and f is force at the contact point. Note : (*)_n and (*)_t indicate the normal and tangential components of (*) respectively.
deInt	_id
deInt	_isFixed
deFloat	_cor
deFloat	_cofg
deFloat	_cofv
deFloat	_cofs
deFloat	_cofd
std::string	name_
virtual void	setCOF_grip (deFloat c)
	cofg : coefficient of grip friction when v != 0 and y != 0 : f_g = - sign(v_t) * cofg * y_n More...
virtual void	setCOF_viscous (deFloat c)
	cofv : coefficient of viscous friction when v != 0 : f_v = - v_t * cofv More...
virtual void	setCOF_static (deFloat c)
	cofs : coefficient of static friction when v == 0 and a != 0 : f_s = - sign(a_t) * cofs * f_n More...
virtual void	setCOF_dynamic (deFloat c)
	cofd : coefficient of dynamic friction when v != 0 : f_d = - sign(v_t) * cofd * f_n More...
virtual deFloat	effectiveMass (const deVector3 *Pie, const deVector3 *Ui)
virtual void	linearVelocity (deVector3 *Vie, const deVector3 *Pie)
virtual void	linearAcceleration (deVector3 *Aie, const deVector3 *Pie)
virtual void	impulse (const deVector3 *Pie, const deVector3 *Yie)
	computes new velocity given impulse More...
virtual void	impulseDist (const deVector3 *Pie, const deVector3 *Yie)
	computes new position given pseudo impulse More...
virtual void	force (const deVector3 *Pie, const deVector3 *Fie)
	computes new force given force More...
virtual deInt	impact1 (const deVector3 *Pie, const deVector3 *Ui, const deFloat cor2, const deFloat cofg2)
	computes new velocity and force given pos, vel, acc More...
virtual deInt	impact2 (taoDNode *ni, const deVector3 *Pie, const deVector3 *Ui, taoDNode *nj, const deVector3 *Pje, const deVector3 *Uj)
	This method computes impulse/force and changes velocity/friction between two colliding nodes, ni and nj. More...
virtual deInt	penetration1 (const deVector3 *Pie, const deVector3 *Ui, const deVector3 *pdist, const deFloat dt)
	This method computes impulse and changes position/orientation using impulseDist(). More...
deInt	_Impact1 (const deVector3 *Pie, const deVector3 *Ui, const deVector3 *V, const deFloat m, const deFloat vp, const deFloat vm, const deFloat cofg2)
void	_Friction (const deVector3 *Pie, const deVector3 *Ui, const deVector3 *Ut, const deFloat vtmag, const deFloat m)

Detailed Description

abstract node class for articulated body

A dynamics node = {Articulated Body Link + Set of associated Joints}.

This class should be used as a base class and implemented accordingly.

Constructor & Destructor Documentation

taoDNode::taoDNode ( )

inline

Copied from CNode

Member Function Documentation

virtual deVector3* taoDNode::center ( )

pure virtual

Returns

center of gravity in local frame

Implemented in taoNodeRoot, and taoNode.

virtual deVector6* taoDNode::force ( )

pure virtual

Return values

fext	accumulate all external forces

Implemented in taoNodeRoot, and taoNode.

virtual void taoDNode::force ( const deVector3 *  Pie, const deVector3 *  Fie  )

inlinevirtual

computes new force given force

This method replaces the accumulated force with the given force.

Remarks

replaces the internal force with a new force

Precondition

A, F

Postcondition

F

• Pie - contact point expressed in local frame.
• Fie - force at the contact point expressed in local frame.

  Note

  this method replaces the internal force in the node.

Reimplemented in taoNode.

virtual deFrame* taoDNode::frameGlobal ( )

pure virtual

global frame for the dynamics computation

Note

for taoNodeRB, this is the center of mass frame.

for taoNode, this is the same frame getFrameGraphics()

Implemented in taoNodeRoot, and taoNode.

virtual deFrame* taoDNode::frameHome ( )

pure virtual

Returns

home frame

Implemented in taoNodeRoot, and taoNode.

virtual deFrame* taoDNode::frameLocal ( )

pure virtual

Returns

local frame

Implemented in taoNodeRoot, and taoNode.

virtual taoArticulatedBodyLink* taoDNode::getABNode ( )

inlinevirtual

gets _abNode

virtual taoDNode* taoDNode::getDChild ( )

pure virtual

Returns

first child node

Implemented in taoNodeRoot, and taoNode.

virtual taoDNode* taoDNode::getDParent ( )

pure virtual

Returns

parent node

Implemented in taoNodeRoot, and taoNode.

virtual taoDNode* taoDNode::getDSibling ( )

pure virtual

Returns

next sibling node

Implemented in taoNodeRoot, and taoNode.

virtual void taoDNode::getFrameGraphics ( deFrame *  Fg )

pure virtual

global frame for graphics display

Note

for taoNodeRB, this is the graphics origin frame without the offset.

for taoNodeRB, setFrameGraphics() should be used to set this frame.

for taoNode, this is the same frame as frameGlobal()

Return values

Fg	is filled with the frame info for graphics sync.

Implemented in taoNodeRoot, and taoNode.

virtual deInt taoDNode::getPropagate ( )

inlinevirtual

indicates if dynamics of node should be included for control

Return values

1	to propagate dynamics of node for control
0	not to propagate dynamics of node for control

deInt taoDNode::impact1 ( const deVector3 *  Pie, const deVector3 *  Ui, const deFloat  cor2, const deFloat  cofg2  )

virtual

computes new velocity and force given pos, vel, acc

Remarks

do not use ddQ after this call, replaces the internal force to the new force

Precondition

T, Q, V, dQ, A

Postcondition

V, dQ, F

• Pie - contact point expressed in local frame.
• Ui - unit contact direction vector expressed in local frame (outward normal vector)
• cor2 - coefficient of restitution of the other collision node.
• cof2 - coefficient of grip friction of the other collision node.

  Note

  this method is assuming a node is colliding with a non-moving node.

deInt taoDNode::impact2 ( taoDNode *  ni, const deVector3 *  Pie, const deVector3 *  Ui, taoDNode *  nj, const deVector3 *  Pje, const deVector3 *  Uj  )

virtual

This method computes impulse/force and changes velocity/friction between two colliding nodes, ni and nj.

• Pie - contact point expressed in frame i : Pie = ^iP_e - ^iP_i
• Pje - contact point expressed in frame j : Pje = ^jP_e - ^jP_j
• Ui - unit contact direction vector expressed in frame i : Ui = (^iP_j - ^iP_i)/|^iP_j - ^iP_i|
• Uj - Ui expressed in frame j

  Note

  this method should be used for two moving nodes.

  Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

virtual void taoDNode::impulse ( const deVector3 *  Pie, const deVector3 *  Yie  )

inlinevirtual

computes new velocity given impulse

This method changes velocity instantaneously by applying the given impulse.

Remarks

do not use ddQ after this call

Precondition

T, Q, V, dQ, Y

Postcondition

V, dQ

• Pie - contact point expressed in local frame.
• Yie - impulse at the contact point expressed in local frame.

Reimplemented in taoNode.

virtual void taoDNode::impulseDist ( const deVector3 *  Pie, const deVector3 *  Yie  )

inlinevirtual

computes new position given pseudo impulse

This method changes position and orientation instantaneously by applying the given pseudo impulse.

• Pie - contact point expressed in local frame.
• Yie - pseudo impulse at the contact point expressed in local frame.

Reimplemented in taoNode.

virtual deMatrix3* taoDNode::inertia ( )

pure virtual

Returns

inertia tensor at the origin of local frame

Implemented in taoNodeRoot, and taoNode.

virtual deInt taoDNode::isParentRoot ( )

inlinevirtual

indicates if parent of this node is root

Return values

1	parent this node is root
0	parent this node in not root

virtual deInt taoDNode::isRoot ( )

inlinevirtual

indicates if this node is root

Return values

1	this node is root
0	this node in not root

virtual deFloat* taoDNode::mass ( )

pure virtual

Returns

global frame

mass

Implemented in taoNodeRoot, and taoNode.

deInt taoDNode::penetration1 ( const deVector3 *  Pie, const deVector3 *  Ui, const deVector3 *  pdist, const deFloat  dt  )

virtual

This method computes impulse and changes position/orientation using impulseDist().

• Pie - contact point expressed in local frame.
• Ui - unit contact direction vector expressed in local frame (outward normal vector).
• pdist - penetration distance vector : pdist = P_o - P_i
• dt - integration time step.

  Note

  this method is assuming a node is colliding with a non-moving node.

virtual void taoDNode::setABNode ( taoArticulatedBodyLink *  node )

inlinevirtual

sets _abNode

virtual void taoDNode::setCOF_dynamic ( deFloat  c )

inlinevirtual

cofd : coefficient of dynamic friction when v != 0 : f_d = - sign(v_t) * cofd * f_n

virtual void taoDNode::setCOF_grip ( deFloat  c )

inlinevirtual

cofg : coefficient of grip friction when v != 0 and y != 0 : f_g = - sign(v_t) * cofg * y_n

virtual void taoDNode::setCOF_static ( deFloat  c )

inlinevirtual

cofs : coefficient of static friction when v == 0 and a != 0 : f_s = - sign(a_t) * cofs * f_n

virtual void taoDNode::setCOF_viscous ( deFloat  c )

inlinevirtual

cofv : coefficient of viscous friction when v != 0 : f_v = - v_t * cofv

virtual void taoDNode::setCOR ( deFloat  c )

inlinevirtual

coefficient of restitution

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoDNode.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoDNode.cpp