#include <SIG_DynaLink.h>
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_Material* | floorMaterial |
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... |
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.
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the constructor. Adds itself to the here created dyna's companion Definition at line 8 of file SIG_DynaLink.cpp. |
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the destructor. Destroys the dyna Definition at line 80 of file SIG_DynaLink.cpp. |
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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
Definition at line 138 of file SIG_DynaLink.cpp. |
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Is called, when the companion is created. wants the position and orientation to be set in g
Definition at line 132 of file SIG_DynaLink.cpp. |
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Needed to change a geo which is not controlled by DyNamo from outside.
Definition at line 87 of file SIG_DynaLink.cpp. Referenced by getFirstGeoInfo(). |
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Is called, when a Dyna has changed position or orientation. changes the position and orientation stored here
Definition at line 105 of file SIG_DynaLink.cpp. |
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Definition at line 23 of file SIG_DynaLink.h. |
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the representation of the link's physics in DyNamo.
Definition at line 41 of file SIG_DynaLink.h. |
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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. |
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A pointer to the static link.
Definition at line 29 of file SIG_DynaLink.h. |
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number of the link.
Definition at line 32 of file SIG_DynaLink.h. |
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orientation of the link as its local coordinate system.
Definition at line 38 of file SIG_DynaLink.h. |
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position of the link's center of mass.
Definition at line 35 of file SIG_DynaLink.h. |
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the representation of the link's surface in SOLID.
Definition at line 44 of file SIG_DynaLink.h. |