Detailed Description

Provides common functionality for different types of parts including position, orientation, and motion tracking. Derived classes implement specific behaviors for different part types such as wheels and turrets.

#include <vortexPart.h>

Inheritance diagram for DtVortexBasePart:

[legend]

Public Types
enum	DtPartMotion { X = 0x01 , Y = 0x02 , Z = 0x04 , TRANSLATION = X \| Y \| Z , AZIMUTH = 0x10 , ELEVATION = 0x20 , ROTATION = 0x40 , ORIENTATION = AZIMUTH \| ELEVATION \| ROTATION }

Public Member Functions
	DtVortexBasePart (makVre::DtVortexSimArtPartDescriptor desc, DtVortexBasePart parent)

virtual	~DtVortexBasePart ()

virtual const std::vector< int > &	paramIds () const

virtual bool	init ()=0

virtual void	update ()=0

virtual Vx::VxTransform	transform () const =0

virtual Vx::VxTransform	worldTransform () const =0

virtual void	resetInitialPartPositions ()

virtual void	reset ()

virtual DtVortexBasePart &	parent () const

virtual bool	hasMotion (DtPartMotion motion) const

virtual int	partId () const

virtual int	parentId () const

virtual DtVector	position () const

virtual DtVector	velocity () const

virtual DtVector	acceleration () const

virtual DtTaitBryan	orientation () const

virtual DtVector	angularVelocity () const

virtual const std::string &	name () const

Protected Attributes
std::string	myName

DtVortexBasePart *	myParent

makVre::DtVortexSimArtPartDescriptor *	myDescriptor

int	myParentId

int	myPartId

int	myMotion

std::vector< int >	myParamterIds

DtVector	myPosition

DtVector	myVelocity

DtVector	myAcceleration

DtTaitBryan	myOrientation

DtVector	myAngularVelocity

Member Enumeration Documentation

◆ DtPartMotion

enum DtVortexBasePart::DtPartMotion

Enumeration defining possible part motion types.

These flags can be combined to define which degrees of freedom a part supports.

Enumerator
X	Motion along X axis.
Y	Motion along Y axis.
Z	Motion along Z axis.
TRANSLATION	All translational motion.
AZIMUTH	Rotation around Z axis.
ELEVATION	Rotation around Y axis.
ROTATION	Rotation around X axis.
ORIENTATION	All rotational motion.

Constructor & Destructor Documentation

◆ DtVortexBasePart()

DtVortexBasePart::DtVortexBasePart	(	makVre::DtVortexSimArtPartDescriptor *	desc,
		DtVortexBasePart *	parent )

Constructor.

Creates a part with the specified descriptor and parent.

Parameters

desc	The part descriptor containing configuration
parent	The parent part, or nullptr for root parts

References DtVortexBasePart(), and parent().

Referenced by DtVortexBasePart(), DtVortexDynamicsPart::DtVortexDynamicsPart(), DtVortexModularPart::DtVortexModularPart(), DtVortexPart::DtVortexPart(), and parent().

◆ ~DtVortexBasePart()

virtual DtVortexBasePart::~DtVortexBasePart ( )

virtual

Virtual destructor.

Member Function Documentation

◆ paramIds()

virtual const std::vector< int > & DtVortexBasePart::paramIds ( ) const

inlinevirtual

Gets the parameter IDs associated with this part.

Returns: Vector of parameter IDs

References myParamterIds.

◆ init()

virtual bool DtVortexBasePart::init ( )

pure virtual

Initializes the part.

Sets up the part and its connections to the physics engine.

Returns: True if initialization succeeded, false otherwise

Implemented in DtVortexDynamicsPart, DtVortexModularPart, and DtVortexPart.

◆ update()

virtual void DtVortexBasePart::update ( )

pure virtual

Updates the part state.

Called every frame by the movement actuator. Takes data from Vortex and produces values translated for publishing.

Implemented in DtVortexDynamicsPart, DtVortexModularPart, and DtVortexPart.

◆ transform()

virtual Vx::VxTransform DtVortexBasePart::transform ( ) const

pure virtual

Gets the local transform in Vortex coordinates.

Returns: Local transform in NWU coordinates

Implemented in DtVortexDynamicsPart, DtVortexModularPart, and DtVortexPart.

◆ worldTransform()

virtual Vx::VxTransform DtVortexBasePart::worldTransform ( ) const

pure virtual

Gets the world transform in Vortex coordinates.

Returns: World transform in NWU coordinates

Implemented in DtVortexDynamicsPart, DtVortexModularPart, and DtVortexPart.

◆ resetInitialPartPositions()

virtual void DtVortexBasePart::resetInitialPartPositions ( )

inlinevirtual

Resets the initial part positions.

Derived classes may implement this to reset specific part positions.

Reimplemented in DtVortexDynamicsPart, and DtVortexPart.

◆ reset()

virtual void DtVortexBasePart::reset ( )

virtual

Resets the part to its initial state in Vortex.

Reimplemented in DtVortexDynamicsPart, DtVortexModularPart, and DtVortexPart.

◆ parent()

virtual DtVortexBasePart & DtVortexBasePart::parent ( ) const

virtual

Gets the parent part.

Returns: Reference to the parent part

References DtVortexBasePart().

Referenced by DtVortexBasePart(), DtVortexDynamicsPart::DtVortexDynamicsPart(), DtVortexModularPart::DtVortexModularPart(), and DtVortexPart::DtVortexPart().

◆ hasMotion()

virtual bool DtVortexBasePart::hasMotion ( DtPartMotion motion ) const

virtual

Checks if this part has the specified motion capability.

Parameters

motion The motion type to check (from DtPartMotion enum)

Returns: True if this part is configured with the specified motion

◆ partId()

virtual int DtVortexBasePart::partId ( ) const

inlinevirtual

Gets the part ID.

Gets this part's articulated part ID (see disEnums.h).

Returns: The part ID

References myPartId.

◆ parentId()

virtual int DtVortexBasePart::parentId ( ) const

inlinevirtual

Gets the parent part ID.

Returns: The parent part ID

References myParentId.

◆ position()

virtual DtVector DtVortexBasePart::position ( ) const

inlinevirtual

Gets the position in NED coordinate system.

Returns the position in the articulated part standard coordinate system.

Returns: Current part position

References myPosition.

◆ velocity()

virtual DtVector DtVortexBasePart::velocity ( ) const

inlinevirtual

Gets the current velocity.

Returns: Current velocity vector

References myVelocity.

◆ acceleration()

virtual DtVector DtVortexBasePart::acceleration ( ) const

inlinevirtual

Gets the current acceleration.

Returns: Current acceleration vector

References myAcceleration.

◆ orientation()

virtual DtTaitBryan DtVortexBasePart::orientation ( ) const

inlinevirtual

Gets the current orientation.

Returns: Current orientation as Tait-Bryan angles

References myOrientation.

◆ angularVelocity()

virtual DtVector DtVortexBasePart::angularVelocity ( ) const

inlinevirtual

Gets the current angular velocity.

Returns: Current angular velocity vector

References myAngularVelocity.

◆ name()

virtual const std::string & DtVortexBasePart::name ( ) const

inlinevirtual

Gets the part name.

Returns the name of this part as defined in the descriptor.

Returns: Part name

References myName.

Member Data Documentation

◆ myName

std::string DtVortexBasePart::myName

protected

Part name.

Referenced by name().

◆ myParent

DtVortexBasePart* DtVortexBasePart::myParent

protected

Parent part.

◆ myDescriptor

makVre::DtVortexSimArtPartDescriptor* DtVortexBasePart::myDescriptor

protected

Part descriptor.

◆ myParentId

int DtVortexBasePart::myParentId

protected

Parent part ID.

Referenced by parentId().

◆ myPartId

int DtVortexBasePart::myPartId

protected

This part's ID.

Referenced by partId().

◆ myMotion

int DtVortexBasePart::myMotion

protected

Supported motion types (bitmask)

◆ myParamterIds

std::vector<int> DtVortexBasePart::myParamterIds

protected

Parameter IDs for this part.

Referenced by paramIds().

◆ myPosition

DtVector DtVortexBasePart::myPosition

protected

Current position.

Referenced by position().

◆ myVelocity

DtVector DtVortexBasePart::myVelocity

protected

Current velocity.

Referenced by velocity().

◆ myAcceleration

DtVector DtVortexBasePart::myAcceleration

protected

Current acceleration.

Referenced by acceleration().

◆ myOrientation

DtTaitBryan DtVortexBasePart::myOrientation

protected

Current orientation.

Referenced by orientation().

◆ myAngularVelocity

DtVector DtVortexBasePart::myAngularVelocity

protected

Current angular velocity.

Referenced by angularVelocity().

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

include/vrfExtensions/vreVrfVortex/vortexPart.h

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

◆ DtPartMotion

Constructor & Destructor Documentation

◆ DtVortexBasePart()

◆ ~DtVortexBasePart()

Member Function Documentation

◆ paramIds()

◆ init()

◆ update()

◆ transform()

◆ worldTransform()

◆ resetInitialPartPositions()

◆ reset()

◆ parent()

◆ hasMotion()

◆ partId()

◆ parentId()

◆ position()

◆ velocity()

◆ acceleration()

◆ orientation()

◆ angularVelocity()

◆ name()

Member Data Documentation

◆ myName

◆ myParent

◆ myDescriptor

◆ myParentId

◆ myPartId

◆ myMotion

◆ myParamterIds

◆ myPosition

◆ myVelocity

◆ myAcceleration

◆ myOrientation

◆ myAngularVelocity