#include <CscEntityModel.h>

Public Member Functions
	CscEntityModel (const string &modelId, string entityType, string name, string robotOwner, vector< const CscMember * > membersIn, vector< const CscMemberJoint > jointsIn, vector< const CscPropeller > propellersIn, vector< const CscMemberWheel > wheelsIn, vector< const CscTranslation > translationsIn, vector< const CscEntityLidar > lidarsIn, float defaultYPositionCm, const CscPoint3d defaultRotationPitchYawRoll, const map< string, float > &maxHeightByMemberNameIn, const CscEntityVision *visionIn, const RobotModelGlobalCoefs &globalCoefs)

virtual	~CscEntityModel ()

virtual const string &	getId () const

string	getEntityType () const

string	getName () const

FieldOfView	getLenseFieldOfView () const

string	getOwner () const

CscArea3d	getBoundingBox () const

CscSize3d	getCoreMemberDimensions () const

const vector< const CscMember * > *	getMembers () const

const vector< const CscMemberJoint * > *	getPivots () const

const vector< const CscTranslation * > *	getTranslations () const

const vector< const CscPropeller * > *	getPropellers () const

const vector< const CscMemberWheel * > *	getWheels () const

const vector< const CscEntityLidar * > *	getLidars () const

const CscMemberJoint *	getPivotById (int id) const

const CscTranslation *	getTranslationById (int id) const

const CscPropeller *	getPropellerById (int id) const

const CscMemberWheel *	getWheelById (int id) const

optional< int >	getPivotIdByTag (string searchTag) const

virtual int	countMembers () const

virtual int	countPivots () const

virtual int	countTranslations () const

virtual int	countPropellers () const

virtual int	countWheels () const

virtual int	countLidars () const

float	getHeightMaxByMember (const string &memberName) const

const RobotModelGlobalCoefs &	getGlobalCoefs () const

bool	hasLeftAndRightSides () const

CscEntityModel *	clone () const

const CscMember *	getMemberById (int memberId) const

const CscMember *	getMemberByName (const string &memberName) const

const int	getMemberIndexByName (const string &memberName) const

const CscEntityVision *	getVision () const

bool	isWheelFlagged (int wheelId, string flag) const

bool	isPropellerFlagged (int propellerId, string flag) const

bool	hasLense () const

const map< int, float >	maxDeltaPercentPivotByPivotId (float maxPivotDeltaInDegree) const

float	getDefaultYPositionCm () const

const CscPoint3d *	getDefaultRotationPitchYawRoll () const

Static Public Attributes
static const string	MEMBER_CORE = "Conscience_Member_Core"

static const int	MEMBER_CORE_ID = 0

static const string	MEMBER_HEAD = "Conscience_Member_Head"

static const string	MEMBER_LENSE = "Conscience_Member_Lense"

static const string	MEMBER_LIDAR = "Conscience_Lidar"

static const string	MEMBER_FOOT_LEFT = "Conscience_Member_FootLeft"

static const string	MEMBER_FOOT_RIGHT = "Conscience_Member_FootRight"

static const string	MEMBER_PREFIX = "Conscience_Member_"

static const CscPoint3d *	INITIAL_EULER = new CscPoint3d(0, 0, -M_PI_2)

static const CscQuaternion	INITIAL_QUATERNION = CscQuaternion::fromAngleAxis(-M_PI_2, AXIS_3D_X)

Constructor & Destructor Documentation

◆ CscEntityModel()

CscEntityModel::CscEntityModel	(	const string &	modelId,
		string	entityType,
		string	name,
		string	robotOwner,
		vector< const CscMember * > *	membersIn,
		vector< const CscMemberJoint * > *	jointsIn,
		vector< const CscPropeller * > *	propellersIn,
		vector< const CscMemberWheel * > *	wheelsIn,
		vector< const CscTranslation * > *	translationsIn,
		vector< const CscEntityLidar * > *	lidarsIn,
		float	defaultYPositionCm,
		const CscPoint3d *	defaultRotationPitchYawRoll,
		const map< string, float > &	maxHeightByMemberNameIn,
		const CscEntityVision *	visionIn,
		const RobotModelGlobalCoefs &	globalCoefs
	)

Parameters

defaultRotationPitchYawRoll angles in radians

◆ ~CscEntityModel()

CscEntityModel::~CscEntityModel ( )

virtual

Member Function Documentation

◆ clone()

CscEntityModel * CscEntityModel::clone ( ) const

◆ countLidars()

int CscEntityModel::countLidars ( ) const

virtual

◆ countMembers()

int CscEntityModel::countMembers ( ) const

virtual

◆ countPivots()

int CscEntityModel::countPivots ( ) const

virtual

◆ countPropellers()

int CscEntityModel::countPropellers ( ) const

virtual

◆ countTranslations()

int CscEntityModel::countTranslations ( ) const

virtual

◆ countWheels()

int CscEntityModel::countWheels ( ) const

virtual

◆ getBoundingBox()

CscArea3d CscEntityModel::getBoundingBox ( ) const

◆ getCoreMemberDimensions()

CscSize3d CscEntityModel::getCoreMemberDimensions ( ) const

Returns: Dimensions of CORE member, which could be assimilated as this entity's bounding box. In the Conscience ref frame: depth=sizeX,heigth=sizeY,width=sizeZ

See also: CscMember::CscMember implementation and how models are loaded

◆ getDefaultRotationPitchYawRoll()

const CscPoint3d * CscEntityModel::getDefaultRotationPitchYawRoll ( ) const

Returns: rotation with angles in radians

◆ getDefaultYPositionCm()

float CscEntityModel::getDefaultYPositionCm ( ) const

◆ getEntityType()

string CscEntityModel::getEntityType ( ) const

◆ getGlobalCoefs()

const RobotModelGlobalCoefs & CscEntityModel::getGlobalCoefs ( ) const

◆ getHeightMaxByMember()

float CscEntityModel::getHeightMaxByMember ( const string & memberName ) const

◆ getId()

const string & CscEntityModel::getId ( ) const

virtual

◆ getLenseFieldOfView()

FieldOfView CscEntityModel::getLenseFieldOfView ( ) const

◆ getLidars()

const vector< const CscEntityLidar * > * CscEntityModel::getLidars ( ) const

◆ getMemberById()

const CscMember * CscEntityModel::getMemberById ( int memberId ) const

◆ getMemberByName()

const CscMember * CscEntityModel::getMemberByName ( const string & memberName ) const

◆ getMemberIndexByName()

const int CscEntityModel::getMemberIndexByName ( const string & memberName ) const

Returns: -1 if member not found

◆ getMembers()

const vector< const CscMember * > * CscEntityModel::getMembers ( ) const

◆ getName()

string CscEntityModel::getName ( ) const

◆ getOwner()

string CscEntityModel::getOwner ( ) const

◆ getPivotById()

const CscMemberJoint * CscEntityModel::getPivotById ( int id ) const

◆ getPivotIdByTag()

optional< int > CscEntityModel::getPivotIdByTag ( string searchTag ) const

◆ getPivots()

const vector< const CscMemberJoint * > * CscEntityModel::getPivots ( ) const

◆ getPropellerById()

const CscPropeller * CscEntityModel::getPropellerById ( int id ) const

◆ getPropellers()

const vector< const CscPropeller * > * CscEntityModel::getPropellers ( ) const

◆ getTranslationById()

const CscTranslation * CscEntityModel::getTranslationById ( int id ) const

◆ getTranslations()

const vector< const CscTranslation * > * CscEntityModel::getTranslations ( ) const

◆ getVision()

const CscEntityVision * CscEntityModel::getVision ( ) const

◆ getWheelById()

const CscMemberWheel * CscEntityModel::getWheelById ( int id ) const

◆ getWheels()

const vector< const CscMemberWheel * > * CscEntityModel::getWheels ( ) const

◆ hasLeftAndRightSides()

bool CscEntityModel::hasLeftAndRightSides ( ) const

◆ hasLense()

bool CscEntityModel::hasLense ( ) const

◆ isPropellerFlagged()

bool CscEntityModel::isPropellerFlagged	(	int	propellerId,
		string	flag
	)		const

◆ isWheelFlagged()

bool CscEntityModel::isWheelFlagged	(	int	wheelId,
		string	flag
	)		const

◆ maxDeltaPercentPivotByPivotId()

const map< int, float > CscEntityModel::maxDeltaPercentPivotByPivotId ( float maxPivotDeltaInDegree ) const

Calculates the maximum pivot angle change, in percent, for each pivot in the entity.

Parameters

maxPivotDeltaInDegree The maximum pivot angle change, in degrees.

Returns: A map of pivot IDs to their respective maximum pivot angle change, in percent.

Member Data Documentation

◆ INITIAL_EULER

const CscPoint3d* CscEntityModel::INITIAL_EULER = new CscPoint3d(0, 0, -M_PI_2)

inlinestatic

◆ INITIAL_QUATERNION

const CscQuaternion CscEntityModel::INITIAL_QUATERNION = CscQuaternion::fromAngleAxis(-M_PI_2, AXIS_3D_X)

inlinestatic

◆ MEMBER_CORE

const string CscEntityModel::MEMBER_CORE = "Conscience_Member_Core"

inlinestatic

◆ MEMBER_CORE_ID

const int CscEntityModel::MEMBER_CORE_ID = 0

inlinestatic

◆ MEMBER_FOOT_LEFT

const string CscEntityModel::MEMBER_FOOT_LEFT = "Conscience_Member_FootLeft"

inlinestatic

◆ MEMBER_FOOT_RIGHT

const string CscEntityModel::MEMBER_FOOT_RIGHT = "Conscience_Member_FootRight"

inlinestatic

◆ MEMBER_HEAD

const string CscEntityModel::MEMBER_HEAD = "Conscience_Member_Head"

inlinestatic

◆ MEMBER_LENSE

const string CscEntityModel::MEMBER_LENSE = "Conscience_Member_Lense"

inlinestatic

◆ MEMBER_LIDAR

const string CscEntityModel::MEMBER_LIDAR = "Conscience_Lidar"

inlinestatic

◆ MEMBER_PREFIX

const string CscEntityModel::MEMBER_PREFIX = "Conscience_Member_"

inlinestatic

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

CoreObjects/CscEntityModel.h
CoreObjects/CscEntityModel.cpp

Conscience Core

Public Member Functions

Static Public Attributes

Constructor & Destructor Documentation

◆ CscEntityModel()

◆ ~CscEntityModel()

Member Function Documentation

◆ clone()

◆ countLidars()

◆ countMembers()

◆ countPivots()

◆ countPropellers()

◆ countTranslations()

◆ countWheels()

◆ getBoundingBox()

◆ getCoreMemberDimensions()

◆ getDefaultRotationPitchYawRoll()

◆ getDefaultYPositionCm()

◆ getEntityType()

◆ getGlobalCoefs()

◆ getHeightMaxByMember()

◆ getId()

◆ getLenseFieldOfView()

◆ getLidars()

◆ getMemberById()

◆ getMemberByName()

◆ getMemberIndexByName()

◆ getMembers()

◆ getName()

◆ getOwner()

◆ getPivotById()

◆ getPivotIdByTag()

◆ getPivots()

◆ getPropellerById()

◆ getPropellers()

◆ getTranslationById()

◆ getTranslations()

◆ getVision()

◆ getWheelById()

◆ getWheels()

◆ hasLeftAndRightSides()

◆ hasLense()

◆ isPropellerFlagged()

◆ isWheelFlagged()

◆ maxDeltaPercentPivotByPivotId()

Member Data Documentation

◆ INITIAL_EULER

◆ INITIAL_QUATERNION

◆ MEMBER_CORE

◆ MEMBER_CORE_ID

◆ MEMBER_FOOT_LEFT

◆ MEMBER_FOOT_RIGHT

◆ MEMBER_HEAD

◆ MEMBER_LENSE

◆ MEMBER_LIDAR

◆ MEMBER_PREFIX