#include <SIG_Body.h>
Public Methods | |
SIG_Body (SIG_Robot *par, QString f, QString d) | |
Nonstandard standard constructor. More... | |
SIG_Body (SIG_Robot *par, QTextStream & tx) | |
Unstreaming constructor. More... | |
~SIG_Body (void) | |
Destructor. More... | |
void | addUsingLink (SIG_Link* user) |
Register a link as being formed like the surface described in this body object. More... | |
void | load () |
Loads the geometry from the VRML file. More... | |
NEWMAT::Matrix | createRotationMatrix ( QArray< float > rotation ) |
Help method to create the affine transformation matrix that rotates a point as specified in the argument vector. More... | |
void | readVRMLNode (Node *node, NEWMAT::Matrix transformation) |
Help method to traverse the VRML scene graph. More... | |
void | setGeometry (SIG_Geometry *geo) |
Setting the geometry. More... | |
SIG_Geometry const* | getGeometry (void) const |
Getting access to the surface of the body. More... | |
void | writeToFileTransfer (QTextStream & tx) |
Write the SIG_Body object and the geometry information into a stream. More... | |
QString | getGeometryFile (void) const |
Get the name of the geometry file. More... | |
QString | getName (void) const |
Get the name of the geometry file as specified in the robot description. More... | |
Private Attributes | |
SIG_Robot* | parent |
QList<SIG_Link> | usedByLinks |
QString | geometryFile |
QString | directory |
SIG_Geometry* | geometry |
Methods to analize and normalize the geometrical data, such as calculation of the inertia tensor, and transformation to the coordinate system that Dynamo needs.
Definition at line 28 of file SIG_Body.h.
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Nonstandard standard constructor.
Definition at line 8 of file SIG_Body.cpp. |
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Unstreaming constructor. Reads the geometry and its physical attributes from a stream. Definition at line 15 of file SIG_Body.cpp. |
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Destructor.
Definition at line 30 of file SIG_Body.cpp. |
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Register a link as being formed like the surface described in this body object.
Definition at line 36 of file SIG_Body.cpp. |
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Help method to create the affine transformation matrix that rotates a point as specified in the argument vector.
Definition at line 41 of file SIG_Body.cpp. |
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Getting access to the surface of the body.
Definition at line 203 of file SIG_Body.cpp. |
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Get the name of the geometry file.
Definition at line 208 of file SIG_Body.cpp. |
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Get the name of the geometry file as specified in the robot description.
Definition at line 220 of file SIG_Body.cpp. |
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Loads the geometry from the VRML file. The load-method loads the VRML file given in the constructor into memory using CyberVRML '97 and, assuming it finds a polygon soup, detects the incidences and contructs a Polyhedron object. Definition at line 176 of file SIG_Body.cpp. |
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Help method to traverse the VRML scene graph.
Definition at line 68 of file SIG_Body.cpp. |
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Setting the geometry. In normal operation, this should not be used. Generally, the geometry information will be loaded by SIG_Body itself from a DXF file. Definition at line 198 of file SIG_Body.cpp. |
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Write the SIG_Body object and the geometry information into a stream.
Definition at line 225 of file SIG_Body.cpp. |
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Definition at line 32 of file SIG_Body.h. |
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Definition at line 33 of file SIG_Body.h. |
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Definition at line 32 of file SIG_Body.h. |
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Definition at line 30 of file SIG_Body.h. |
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Definition at line 31 of file SIG_Body.h. |