Aspects, States, and Properties

apps/addDeleteSkels/MyWindow.cpp

@@ -104,10 +104,10 @@ void MyWindow::spawnCube(const Eigen::Vector3d& _position,
       = newCubeSkeleton->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(
         nullptr, joint, body);
   auto shapeNode = pair.second->createShapeNodeWith<
-      dart::dynamics::VisualAddon,
-      dart::dynamics::CollisionAddon,
-      dart::dynamics::DynamicsAddon>(newBoxShape);
-  shapeNode->getVisualAddon()->setColor(dart::math::randomVector<3>(0.0, 1.0));
+      dart::dynamics::VisualAspect,
+      dart::dynamics::CollisionAspect,
+      dart::dynamics::DynamicsAspect>(newBoxShape);
+  shapeNode->getVisualAspect()->setColor(dart::math::randomVector<3>(0.0, 1.0));
 
   mWorld->addSkeleton(newCubeSkeleton);
 }

apps/atlasSimbicon/Controller.cpp

@@ -74,7 +74,8 @@ Controller::Controller(SkeletonPtr _atlasRobot,
 //  harnessLeftFoot();
 //  harnessRightFoot();
 
-  mInitialState = mAtlasRobot->getState();
+  mInitialState = mAtlasRobot->getConfiguration(
+        Skeleton::CONFIG_POSITIONS | Skeleton::CONFIG_VELOCITIES);
 }
 
 //==============================================================================
@@ -304,7 +305,7 @@ void Controller::unharnessRightFoot()
 //==============================================================================
 void Controller::resetRobot()
 {
-  mAtlasRobot->setState(mInitialState);
+  mAtlasRobot->setConfiguration(mInitialState);
 
   dtmsg << "Robot is reset." << std::endl;
 }

apps/atlasSimbicon/Controller.h

@@ -181,7 +181,7 @@ class Controller
   dart::constraint::WeldJointConstraintPtr mWeldJointConstraintRightFoot;
 
   /// \brief Initial state of the robot
-  Eigen::VectorXd mInitialState;
+  dart::dynamics::Skeleton::Configuration mInitialState;
 };
 
 #endif  // APPS_ATLASROBOT_CONTROLLER_H_

apps/hardcodedDesign/Main.cpp

@@ -73,9 +73,9 @@ int main(int argc, char* argv[]) {
       LeftLegSkel->createJointAndBodyNodePair<dart::dynamics::RevoluteJoint>(
         nullptr, joint, body);
   pair.second->createShapeNodeWith<
-      dart::dynamics::VisualAddon,
-      dart::dynamics::CollisionAddon,
-      dart::dynamics::DynamicsAddon>(shape);
+      dart::dynamics::VisualAspect,
+      dart::dynamics::CollisionAspect,
+      dart::dynamics::DynamicsAspect>(shape);
   dart::dynamics::BodyNode* parent = pair.second;
 
   // BodyNode 2: Left Hip Roll (LHR) whose parent is: LHY
@@ -93,9 +93,9 @@ int main(int argc, char* argv[]) {
         parent, joint, body);
   pair1.first->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
   auto shapeNode1 = pair1.second->createShapeNodeWith<
-      dart::dynamics::VisualAddon,
-      dart::dynamics::CollisionAddon,
-      dart::dynamics::DynamicsAddon>(shape);
+      dart::dynamics::VisualAspect,
+      dart::dynamics::CollisionAspect,
+      dart::dynamics::DynamicsAspect>(shape);
   shapeNode1->setRelativeTranslation(Eigen::Vector3d(0.0, 0.0, 0.5));
   pair1.second->setLocalCOM(shapeNode1->getRelativeTranslation());
   pair1.second->setMass(mass);
@@ -115,9 +115,9 @@ int main(int argc, char* argv[]) {
   LeftLegSkel->createJointAndBodyNodePair<dart::dynamics::RevoluteJoint>(
         LeftLegSkel->getBodyNode(1), joint, body);
   auto shapeNode2 = pair2.second->createShapeNodeWith<
-      dart::dynamics::VisualAddon,
-      dart::dynamics::CollisionAddon,
-      dart::dynamics::DynamicsAddon>(shape);
+      dart::dynamics::VisualAspect,
+      dart::dynamics::CollisionAspect,
+      dart::dynamics::DynamicsAspect>(shape);
   shapeNode2->setRelativeTranslation(Eigen::Vector3d(0.0, 0.0, 0.5));
   pair2.second->setLocalCOM(shapeNode2->getRelativeTranslation());
   pair2.second->setMass(mass);

apps/rigidLoop/Main.cpp

@@ -70,8 +70,8 @@ int main(int argc, char* argv[])
   // create a ball joint constraint
   BodyNode* bd1 = myWorld->getSkeleton(0)->getBodyNode("link 6");
   BodyNode* bd2 = myWorld->getSkeleton(0)->getBodyNode("link 10");
-  bd1->getShapeNode(0)->getVisualAddon()->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
-  bd2->getShapeNode(0)->getVisualAddon()->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
+  bd1->getShapeNode(0)->getVisualAspect()->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
+  bd2->getShapeNode(0)->getVisualAspect()->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
   Eigen::Vector3d offset(0.0, 0.025, 0.0);
   Eigen::Vector3d jointPos = bd1->getTransform() * offset;
   BallJointConstraintPtr cl =

apps/rigidShapes/MyWindow.cpp

@@ -187,10 +187,10 @@ void MyWindow::spawnBox(const Eigen::Isometry3d& _T,
   auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
         nullptr, jointProp, bodyProp);
   auto shapeNode = pair.second->createShapeNodeWith<
-      dynamics::VisualAddon,
-      dynamics::CollisionAddon,
-      dynamics::DynamicsAddon>(newShape);
-  shapeNode->getVisualAddon()->setColor(math::randomVector<3>(0.0, 1.0));
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(newShape);
+  shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
 
   mWorld->addSkeleton(newSkeleton);
 }
@@ -215,10 +215,10 @@ void MyWindow::spawnEllipsoid(const Eigen::Isometry3d& _T,
   auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
         nullptr, jointProp, bodyProp);
   auto shapeNode = pair.second->createShapeNodeWith<
-      dynamics::VisualAddon,
-      dynamics::CollisionAddon,
-      dynamics::DynamicsAddon>(newShape);
-  shapeNode->getVisualAddon()->setColor(math::randomVector<3>(0.0, 1.0));
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(newShape);
+  shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
 
   mWorld->addSkeleton(newSkeleton);
 }
@@ -244,10 +244,10 @@ void MyWindow::spawnCylinder(const Eigen::Isometry3d& _T,
   auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
         nullptr, jointProp, bodyProp);
   auto shapeNode = pair.second->createShapeNodeWith<
-      dynamics::VisualAddon,
-      dynamics::CollisionAddon,
-      dynamics::DynamicsAddon>(newShape);
-  shapeNode->getVisualAddon()->setColor(math::randomVector<3>(0.0, 1.0));
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(newShape);
+  shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
 
   mWorld->addSkeleton(newSkeleton);
 }

apps/softBodies/Main.cpp

@@ -62,9 +62,9 @@ int main(int argc, char* argv[])
     {
       dart::dynamics::BodyNode* bn = skel->getBodyNode(j);
       Eigen::Vector3d color = dart::Color::Random();
-      auto shapeNodes = bn->getShapeNodesWith<dart::dynamics::VisualAddon>();
+      auto shapeNodes = bn->getShapeNodesWith<dart::dynamics::VisualAspect>();
       for(auto shapeNode : shapeNodes)
-        shapeNode->getVisualAddon(true)->setColor(color);
+        shapeNode->getVisualAspect(true)->setColor(color);
     }
   }
 

dart/collision/detail/CollisionGroup.h

@@ -90,7 +90,7 @@ void CollisionGroup::addShapeFramesOf(
   assert(bodyNode);
 
   auto collisionShapeNodes
-      = bodyNode->getShapeNodesWith<dynamics::CollisionAddon>();
+      = bodyNode->getShapeNodesWith<dynamics::CollisionAspect>();
 
   for (auto& shapeNode : collisionShapeNodes)
     addShapeFrame(shapeNode);
@@ -163,7 +163,7 @@ void CollisionGroup::removeShapeFramesOf(
   assert(bodyNode);
 
   auto collisionShapeNodes
-      = bodyNode->getShapeNodesWith<dynamics::CollisionAddon>();
+      = bodyNode->getShapeNodesWith<dynamics::CollisionAspect>();
 
   for (auto& shapeNode : collisionShapeNodes)
     removeShapeFrame(shapeNode);