#include <SIG_Link.h>
Public Methods | |
SIG_Link (SIG_Robot *par, QString n, int nr) | |
SIG_Link (SIG_Robot *par, QTextStream & tx) | |
~SIG_Link (void) | |
QString | getName (void) const |
int | getNumber (void) const |
bool | isRootLink (void) const |
void | setBody (SIG_Body *b) |
SIG_Body const* | getBody (void) const |
void | setMaterial (SIG_Material *mtrl) |
SIG_Material const* | getMaterial (void) const |
void | addPoint (QString pointname, DL_vector point) |
DL_vector | getPoint (QString id) const |
bool | hasPoint (QString pointname) const |
QDictIterator<DL_vector> | getPointIter (void) const |
int | getNrOfPoints (void) const |
void | instantiateGeometry (void) |
void | transformToDynaMo (void) |
void | transformToDynaMechs ( SIG_Joint *predecessor, DL_vector predBase = DL_vector(0, 0, 0), DL_vector predDir = DL_vector(0, 0, 0), DL_vector predHand = DL_vector(0, 0, 0) ) |
void | transformPoints (DL_vector mov, DL_matrix rot) |
void | addNoCollide (SIG_Link *link, bool negotiate = true) |
addNoCollide marks a pair of links, this and the given one, as links for which no collisions should be reported. More... | |
QList<SIG_Link> | getNoCollides () const |
void | addJoint (SIG_Joint *joint) |
QList<SIG_Joint> | getJoints () const |
SIG_Geometry const* | getGeometry (void) const |
void | getPhysics (DL_Scalar & m, DL_vector & com, DL_matrix & it) |
void | propagateInitialLocation (SIG_Link *comingfrom) |
void | setInitialLocation (DL_vector p, DL_matrix o, SIG_Link *comingfrom = 0) |
void | getInitialLocation (DL_vector & p, DL_matrix & o) const |
bool | isInitiated (void) const |
bool | isMDHVisited (void) const |
void | calculateCommonNormal ( DL_vector a, DL_vector u, DL_vector b, DL_vector v, DL_vector &c, DL_vector &w ) |
void | writeToFileTransfer (QTextStream & tx) const |
Private Attributes | |
SIG_Robot* | parent |
QString | name |
int | number |
SIG_Body* | body |
SIG_Geometry* | geometry |
SIG_Mirtich* | mirtich |
SIG_Material* | material |
QDict<DL_vector> | points |
QList<SIG_Joint> | adjacentJoints |
QList<SIG_Link> | noCollide |
DL_vector | initialLocation |
DL_matrix | initialOrientation |
bool | initiated |
bool | mdh_visited |
SIG_Joint is a linking pin to all information needed to work with a link. Geometry information is saved in a SIG_Body object, material information in a SIG_Material object. Furthermore a list of significant points is managed.
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addNoCollide marks a pair of links, this and the given one, as links for which no collisions should be reported.
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