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SIGEL_Simulation::SIG_DynaLink Class Reference

The SIG_DynaLink contains all the data of one link for Dynamo and Solid. More...

#include <SIG_DynaLink.h>

List of all members.

Public Methods

 SIG_DynaLink (DL_point thePosition, DL_matrix theOrientation)
 the constructor. More...

 ~SIG_DynaLink ()
 the destructor. More...

void getNewGeoInfo (DL_geo* g)
 Needed to change a geo which is not controlled by DyNamo from outside. More...

void updateDynaCompanion (DL_dyna* d)
 Is called, when a Dyna has changed position or orientation. More...

void getFirstGeoInfo (DL_geo* g)
 Is called, when the companion is created. More...

void checkInertiaTensor (DL_dyna* d)
 Needed to check the new InertiaTensor, if the Link is deformed. More...


Public Attributes

DL_ptp* collptp
SIGEL_Robot::SIG_MaterialfloorMaterial
 A pointer to the floor material, so we have the material in the static collision response. More...

SIGEL_Robot::SIG_Link const* link
 A pointer to the static link. More...

int number
 number of the link. More...

DL_point position
 position of the link's center of mass. More...

DL_matrix orientation
 orientation of the link as its local coordinate system. More...

DL_dyna* dyna
 the representation of the link's physics in DyNamo. More...

DtShapeRef shape
 the representation of the link's surface in SOLID. More...


Detailed Description

The SIG_DynaLink contains all the data of one link for Dynamo and Solid.

The class SIG_SimulationData transforms the SIG_Bodys and SIG_Links of the SIG_Robot into SIG_DynaLinks, here everything is just stored plus there is an easy function to add constraints and the callbacks are implemented.

Definition at line 21 of file SIG_DynaLink.h.


Constructor & Destructor Documentation

SIGEL_Simulation::SIG_DynaLink::SIG_DynaLink ( DL_point thePosition,
DL_matrix theOrientation )
 

the constructor.

Adds itself to the here created dyna's companion

Definition at line 8 of file SIG_DynaLink.cpp.

SIGEL_Simulation::SIG_DynaLink::~SIG_DynaLink ( )
 

the destructor.

Destroys the dyna

Definition at line 80 of file SIG_DynaLink.cpp.


Member Function Documentation

void SIGEL_Simulation::SIG_DynaLink::checkInertiaTensor ( DL_dyna * d )
 

Needed to check the new InertiaTensor, if the Link is deformed.

Will not be implemented in the program, it is just there to completely implement the callbacks from DyNamo

Parameters:
d   the dyna whose inertia tensor to be changed

Definition at line 138 of file SIG_DynaLink.cpp.

void SIGEL_Simulation::SIG_DynaLink::getFirstGeoInfo ( DL_geo * g )
 

Is called, when the companion is created.

wants the position and orientation to be set in g

Parameters:
g   the geo to be changed here

Definition at line 132 of file SIG_DynaLink.cpp.

void SIGEL_Simulation::SIG_DynaLink::getNewGeoInfo ( DL_geo * g )
 

Needed to change a geo which is not controlled by DyNamo from outside.

Parameters:
g   the geo to be changed here

Definition at line 87 of file SIG_DynaLink.cpp.

Referenced by getFirstGeoInfo().

void SIGEL_Simulation::SIG_DynaLink::updateDynaCompanion ( DL_dyna * d )
 

Is called, when a Dyna has changed position or orientation.

changes the position and orientation stored here

Parameters:
d   the dyna, should be the same as dyna

Definition at line 105 of file SIG_DynaLink.cpp.


Member Data Documentation

DL_ptp * SIGEL_Simulation::SIG_DynaLink::collptp
 

Definition at line 23 of file SIG_DynaLink.h.

DL_dyna * SIGEL_Simulation::SIG_DynaLink::dyna
 

the representation of the link's physics in DyNamo.

Definition at line 41 of file SIG_DynaLink.h.

SIGEL_Robot::SIG_Material * SIGEL_Simulation::SIG_DynaLink::floorMaterial
 

A pointer to the floor material, so we have the material in the static collision response.

Definition at line 26 of file SIG_DynaLink.h.

SIGEL_Robot::SIG_Link const * SIGEL_Simulation::SIG_DynaLink::link
 

A pointer to the static link.

Definition at line 29 of file SIG_DynaLink.h.

int SIGEL_Simulation::SIG_DynaLink::number
 

number of the link.

Definition at line 32 of file SIG_DynaLink.h.

DL_matrix SIGEL_Simulation::SIG_DynaLink::orientation
 

orientation of the link as its local coordinate system.

Definition at line 38 of file SIG_DynaLink.h.

DL_point SIGEL_Simulation::SIG_DynaLink::position
 

position of the link's center of mass.

Definition at line 35 of file SIG_DynaLink.h.

DtShapeRef SIGEL_Simulation::SIG_DynaLink::shape
 

the representation of the link's surface in SOLID.

Definition at line 44 of file SIG_DynaLink.h.


The documentation for this class was generated from the following files:
Generated at Mon Sep 3 01:32:37 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000