fsb::BodyTree Class Reference

Detailed Description

Body tree description of a kinematic chain.

#include <fsb_body_tree.h>

Collaboration diagram for fsb::BodyTree:

Public Member Functions
	BodyTree ()=default
	Construct a new BodyTree object.
size_t	add_body (size_t parent_body_index, JointType joint_type, const Transform &parent_joint_transform, const Body &body, BodyTreeError &err)
	Add a body to the body tree.
size_t	add_massless_body (size_t parent_body_index, JointType joint_type, const Transform &parent_joint_transform, const MotionVector &origin_offset, BodyTreeError &err)
	Add a massless body to the body tree.
BodyTreeError	set_joint_position_limit (size_t joint_index, real_t lower_position, real_t upper_position)
	Set joint position limits for a joint in the body tree.
BodyTreeError	unset_joint_position_limit (size_t joint_index)
	Unset joint position limits for a joint in the body tree.
BodyTreeError	get_joint_position_limit (size_t joint_index, bool &is_set, real_t &lower_position, real_t &upper_position) const
	Get joint position limits for a joint in the body tree.
BodyTreeError	set_joint_velocity_limit (size_t joint_index, real_t max_velocity)
	Set joint velocity limit for a joint in the body tree.
BodyTreeError	get_joint_velocity_limit (size_t joint_index, real_t &max_velocity) const
	Get joint velocity limit for a joint in the body tree.
void	set_gravity (const Vec3 &gravity)
	Set the gravity vector.
Joint	get_joint (size_t joint_index, BodyTreeError &err) const
	Get a joint object in the body tree.
Body	get_body (size_t body_index, BodyTreeError &err) const
	Get body object from tree.
BodyTreeError	set_body_mass_props (size_t body_index, const MassProps &mass_props)
	Set the body mass properties object.
BodyTreeError	set_body_origin_offset (size_t body_index, const MotionVector &origin_offset)
	Set the body transform offset.
BodyTreeError	set_parent_joint_transform (size_t body_index, const Transform &parent_joint_transform)
	Set the parent joint transform object.
size_t	get_body_dofs (size_t body_index, BodyTreeError &err) const
	Get the number of degrees of freedom for a body.
size_t	get_num_bodies () const
	Get the number of bodies in tree.
size_t	get_num_dofs () const
	Get the number of body tree degrees of freedom.
size_t	get_num_coordinates () const
	Get the number of generalized position coordinates.
Vec3	get_gravity () const
	Get the gravity vector.
std::array< size_t, MaxSize::bodies >	get_leaves (size_t &num_leaves) const
	Get a list of body indexes that are leaves (bodies without children)

Static Public Attributes
static constexpr size_t	base_index = 0U
	Index of base body is always 0.

Member Function Documentation

add_body()

size_t fsb::BodyTree::add_body	(	size_t	parent_body_index,
		JointType	joint_type,
		const Transform &	parent_joint_transform,
		const Body &	body,
		BodyTreeError &	err
	)

Add a body to the body tree.

Parameters

parent_body_index	Index of parent body
joint_type	Joint type
parent_joint_transform	Transform of joint with respect to parent body
body	Body to add to tree
err	Error code

Returns

Index of added body

add_massless_body()

size_t fsb::BodyTree::add_massless_body	(	size_t	parent_body_index,
		JointType	joint_type,
		const Transform &	parent_joint_transform,
		const MotionVector &	origin_offset,
		BodyTreeError &	err
	)

Add a massless body to the body tree.

Parameters

parent_body_index	Index of parent body
joint_type	Joint type
parent_joint_transform	Transform of joint with respect to parent body
origin_offset	Origin offset transform
err	Error code

Returns

Index of added body

get_body_dofs()

size_t fsb::BodyTree::get_body_dofs	(	size_t	body_index,
		BodyTreeError &	err
	)		const

Get the number of degrees of freedom for a body.

Parameters

body_index	Body index
err	Error code

Returns

Number of degrees of freedom

get_gravity()

Vec3 fsb::BodyTree::get_gravity ( ) const

inline

Get the gravity vector.

Returns

Gravity acceleration vector

get_joint_position_limit()

BodyTreeError fsb::BodyTree::get_joint_position_limit	(	size_t	joint_index,
		bool &	is_set,
		real_t &	lower_position,
		real_t &	upper_position
	)		const

Get joint position limits for a joint in the body tree.

Only single dof joints are supported.

Parameters

	joint_index	Joint index
[out]	is_set	True if joint position limits are set
[out]	lower_position	Minimum joint position limit
[out]	upper_position	Maximum joint position limit

Returns

Error code SUCCESS if limits were retrieved successfully

get_joint_velocity_limit()

BodyTreeError fsb::BodyTree::get_joint_velocity_limit	(	size_t	joint_index,
		real_t &	max_velocity
	)		const

Get joint velocity limit for a joint in the body tree.

Only single dof joints are supported.

Parameters

	joint_index	Joint index
[out]	max_velocity	Maximum joint velocity limit

Returns

Error code SUCCESS if limits were retrieved successfully

get_leaves()

std::array< size_t, MaxSize::bodies > fsb::BodyTree::get_leaves ( size_t &  num_leaves ) const

inline

Get a list of body indexes that are leaves (bodies without children)

Parameters

num_leaves

Number of leaves in body tree

Returns

Array of body indexes which are leaves.

get_num_bodies()

size_t fsb::BodyTree::get_num_bodies ( ) const

inline

Get the number of bodies in tree.

Returns

Number of bodies

get_num_coordinates()

size_t fsb::BodyTree::get_num_coordinates ( ) const

inline

Get the number of generalized position coordinates.

Returns

Number of generalized position coordinates

get_num_dofs()

size_t fsb::BodyTree::get_num_dofs ( ) const

inline

Get the number of body tree degrees of freedom.

Returns

Degrees of freedom

set_gravity()

void fsb::BodyTree::set_gravity ( const Vec3 &  gravity )

inline

Set the gravity vector.

Parameters

gravity

Gravity vector

set_joint_position_limit()

BodyTreeError fsb::BodyTree::set_joint_position_limit	(	size_t	joint_index,
		real_t	lower_position,
		real_t	upper_position
	)

Set joint position limits for a joint in the body tree.

Only single dof joints are supported.

Parameters

joint_index	joint index
lower_position	Minimum joint position limit
upper_position	Maximum joint position limit

Returns

Error code SUCCESS if limits were set successfully

set_joint_velocity_limit()

BodyTreeError fsb::BodyTree::set_joint_velocity_limit	(	size_t	joint_index,
		real_t	max_velocity
	)

Set joint velocity limit for a joint in the body tree.

Only single dof joints are supported.

Parameters

joint_index	Joint index
max_velocity	Maximum joint velocity limit

Returns

Error code SUCCESS if limits were set successfully

unset_joint_position_limit()

BodyTreeError fsb::BodyTree::unset_joint_position_limit

(

size_t

joint_index

)

Unset joint position limits for a joint in the body tree.

Only single dof joints are supported.

Parameters

joint_index

Joint index

Returns

Error code SUCCESS if limits were unset successfully

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

• fsb-core/include/fsb_body_tree.h
• fsb-core/src/fsb_body_tree.cpp