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SIG_GlueJoint.h

00001 #ifndef SIGEL_ROBOT_SIG_GLUEJOINT_H
00002 #define SIGEL_ROBOT_SIG_GLUEJOINT_H
00003 
00004 namespace SIGEL_Robot { class SIG_GlueJoint; }
00005 
00006 #include "SIGEL_Robot/SIG_Joint.h"
00007 
00008 namespace SIGEL_Robot
00009 {
00015   class SIG_GlueJoint : public SIG_Joint {
00016   private:
00017     DL_vector ptA1, ptA2, ptA3;
00018     DL_vector ptB1, ptB2, ptB3;
00019 
00020   public:
00021     SIG_GlueJoint (SIG_Robot *par, QString n, int nr = -1);
00022     SIG_GlueJoint (SIG_Robot *par, QTextStream & tx);
00023     virtual ~SIG_GlueJoint (void);
00024 
00025     virtual JointType getJointType (void) const;
00026 
00027     void setPlaneA (DL_vector p1, DL_vector p2, DL_vector p3);
00028     void setPlaneB (DL_vector p1, DL_vector p2, DL_vector p3);
00029     void getPlaneA (DL_vector &p1, DL_vector &p2, DL_vector &p3);
00030     void getPlaneB (DL_vector &p1, DL_vector &p2, DL_vector &p3);
00031 
00032     virtual void transformPoints (SIG_Link *side,
00033                                   DL_vector mov, DL_matrix rot);
00034     virtual void getGeomRelation
00035       (DL_vector &t, DL_matrix &o, SIG_Link *origin);
00036 
00037     virtual void writeToFileTransfer (QTextStream & tx);
00038   };
00039 }
00040 
00041 #endif // SIGEL_ROBOT_SIG_GLUEJOINT_H

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