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SIG_RobotCompilerObjects.h

00001 #ifndef SIGEL_ROBOTIO_SIG_ROBOTCOMPILEROBJECTS_H
00002 #define SIGEL_ROBOTIO_SIG_ROBOTCOMPILEROBJECTS_H
00003 
00004 namespace SIGEL_RobotIO { class SIG_RobotCompilerObjects; }
00005 
00006 #include "SIGEL_Robot/SIG_Robot.h"
00007 #include "SIGEL_Robot/SIG_Geometry.h"
00008 #include "SIGEL_RobotIO/SIG_RobotScanner.h"
00009 #include "SIGEL_RobotIO/SIG_RobotCompiler.h"
00010 
00011 namespace SIGEL_RobotIO {
00012         class SIG_RobotCompilerObjects : public SIG_RobotCompiler {
00013         private:
00014                 int linknumber, jointnumber, drivenumber, sensornumber;
00015         public:
00016                 SIG_RobotCompilerObjects (SIG_RobotScanner &sc,
00017                                           SIG_Robot *tg,
00018                                           QString homepath);
00019                 virtual ~SIG_RobotCompilerObjects (void);
00020 
00021                 virtual SIG_Material *materialFind (QString name);
00022                 virtual void materialDensity (SIG_Material *material,
00023                                               DL_Scalar density);
00024                 virtual void materialFriction (SIG_Material *material,
00025                                                QString otherSide,
00026                                                DL_Scalar frictionconst);
00027                 virtual void materialElasticity (SIG_Material *material,
00028                                                  DL_Scalar elasconst);
00029                 virtual void materialColour (SIG_Material *material,
00030                                              DL_Scalar red,
00031                                              DL_Scalar green,
00032                                              DL_Scalar blue);
00033                 virtual void materialFinish (SIG_Material *material);
00034 
00035                 virtual SIG_Link *linkFind (QString name);
00036                 virtual void linkIsTorso (SIG_Link *link);
00037                 virtual void linkGeometryFile (SIG_Link *link,
00038                                                QString geometryfile);
00039                 virtual void linkMaterial (SIG_Link *link,
00040                                            QString material);
00041                 virtual void linkPoint (SIG_Link *link,
00042                                         QString pointname,
00043                                         DL_Scalar x,
00044                                         DL_Scalar y,
00045                                         DL_Scalar z);
00046                 virtual void linkNoCollide (SIG_Link *link,
00047                                             QString nocollide);
00048                 virtual void linkFinish (SIG_Link *link);
00049 
00050                 virtual SIG_RotationalJoint *rjointFind (QString name);
00051                 virtual void rjointLinking (SIG_RotationalJoint *rj,
00052                                             QString Alink, QString AB, QString AD, QString AH,
00053                                             QString Blink, QString BB, QString BD, QString BH);
00054                 virtual void rjointExtents (SIG_RotationalJoint *rj,
00055                                             DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00056                 virtual void rjointFinish (SIG_RotationalJoint *rj);
00057 
00058                 virtual SIG_TranslationalJoint *tjointFind (QString name);
00059                 virtual void tjointLinking (SIG_TranslationalJoint *tj,
00060                                             QString Alink, QString AB, QString AD, QString AF,
00061                                             QString Blink, QString BB, QString BD, QString BF);
00062                 virtual void tjointExtents (SIG_TranslationalJoint *tj,
00063                                             DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00064                 virtual void tjointFinish (SIG_TranslationalJoint *tj);
00065 
00066                 virtual SIG_CylindricalJoint *cjointFind (QString name);
00067                 virtual void cjointLinking (SIG_CylindricalJoint *cj,
00068                                             QString Alink, QString AB, QString AD, QString AH,
00069                                             QString Blink, QString BB, QString BD, QString BH);
00070                 virtual void cjointRotExtents (SIG_CylindricalJoint *cj,
00071                                                DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00072                 virtual void cjointTraExtents (SIG_CylindricalJoint *cj,
00073                                                DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00074                 virtual void cjointFinish (SIG_CylindricalJoint *cj);
00075 
00076                 virtual SIG_GlueJoint *glueFind (QString name);
00077                 virtual void glueLinking (SIG_GlueJoint *glue,
00078                                           QString Alink, QString AA, QString AB, QString AC,
00079                                           QString Blink, QString BP, QString BQ, QString BR);
00080                 virtual void glueFinish (SIG_GlueJoint *glue);
00081 
00082                 virtual SIG_Drive *driveFind (QString name);
00083                 virtual void driveMode (SIG_Drive *d, QString mode);
00084                 virtual void driveJoint (SIG_Drive *d, QString jointname);
00085                 virtual void driveMinMaxForce (SIG_Drive *d, DL_Scalar minf, DL_Scalar maxf);
00086                 virtual void driveFinish (SIG_Drive *d);
00087 
00088                 virtual SIG_JointSensor *jointSensorFind (QString name);
00089                 virtual void jointSensorJoint (SIG_JointSensor *js, QString jointname);
00090                 virtual void jointSensorFinish (SIG_JointSensor *js);
00091 
00092                 virtual SIG_Geometry *surfaceFind (QString name);
00093                 virtual SIG_Polygon *surfaceNewPoly (SIG_Geometry *g);
00094                 virtual void surfaceNewPoint (SIG_Polygon *p,
00095                                               DL_Scalar x,
00096                                               DL_Scalar y,
00097                                               DL_Scalar z);
00098                 virtual void surfaceFinish (SIG_Geometry *g, QString name);
00099 
00100                 virtual void modifierScaleall (DL_Scalar scalingFactor);
00101         };
00102 }
00103 
00104 #endif

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