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SIGEL_Robot::SIG_CylindricalJoint Class Reference

SIG_CylindricalJoint models a joint, at which the adjacent links can rotate around and move along exactly one common axis. More...

#include <SIG_CylindricalJoint.h>

Inheritance diagram for SIGEL_Robot::SIG_CylindricalJoint:

SIGEL_Robot::SIG_Joint List of all members.

Public Methods

 SIG_CylindricalJoint (SIG_Robot *par, QString n, int nr = -1)
 SIG_CylindricalJoint (SIG_Robot *par, QTextStream & tx)
virtual ~SIG_CylindricalJoint (void)
virtual JointType getJointType (void) const
 Returns the type of the joint the object represents. More...

void setLeftPoints (DL_vector B, DL_vector D, DL_vector H)
void setRightPoints (DL_vector B, DL_vector D, DL_vector H)
void setRotationalRange (DL_Scalar mn, DL_Scalar mx, DL_Scalar ii)
void setTranslationalRange (DL_Scalar mn, DL_Scalar mx, DL_Scalar ii)
DL_vector getLeftBase (void) const
DL_vector getLeftDir (void) const
DL_vector getLeftHand (void) const
DL_vector getRightBase (void) const
DL_vector getRightDir (void) const
DL_vector getRightHand (void) const
DL_Scalar getMinRot (void) const
DL_Scalar getMaxRot (void) const
DL_Scalar getIniRot (void) const
DL_Scalar getMinTrans (void) const
DL_Scalar getMaxTrans (void) const
DL_Scalar getIniTrans (void) const
virtual void transformPoints (SIG_Link *side, DL_vector mov, DL_matrix rot)
 Translates and rotates the points associated to the given link. More...

virtual void getGeomRelation (DL_vector &t, DL_matrix &o, SIG_Link *origin)
 Returns the initial geometric relation of the link on the opposite side. More...

virtual void writeToFileTransfer (QTextStream & tx)
 Writes the general joint data into a stream. More...


Private Attributes

DL_vector leftBase
DL_vector rightBase
DL_vector leftDir
DL_vector rightDir
DL_vector leftHand
DL_vector rightHand
DL_Scalar rotMin
DL_Scalar rotMax
DL_Scalar rotIni
DL_Scalar traMin
DL_Scalar traMax
DL_Scalar traIni

Detailed Description

SIG_CylindricalJoint models a joint, at which the adjacent links can rotate around and move along exactly one common axis.

This class specializes SIG_Joint.

Definition at line 21 of file SIG_CylindricalJoint.h.


Constructor & Destructor Documentation

SIGEL_Robot::SIG_CylindricalJoint::SIG_CylindricalJoint ( SIG_Robot * par,
QString n,
int nr = -1 )
 

Definition at line 5 of file SIG_CylindricalJoint.cpp.

SIGEL_Robot::SIG_CylindricalJoint::SIG_CylindricalJoint ( SIG_Robot * par,
QTextStream & tx )
 

Definition at line 9 of file SIG_CylindricalJoint.cpp.

SIGEL_Robot::SIG_CylindricalJoint::~SIG_CylindricalJoint ( void ) [virtual]
 

Definition at line 22 of file SIG_CylindricalJoint.cpp.


Member Function Documentation

void SIGEL_Robot::SIG_CylindricalJoint::getGeomRelation ( DL_vector & t,
DL_matrix & o,
SIG_Link * origin ) [virtual]
 

Returns the initial geometric relation of the link on the opposite side.

t will be filled with a translation vector, o with a rotation matrix.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 83 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getIniRot ( void ) const
 

Definition at line 64 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getIniTrans ( void ) const
 

Definition at line 67 of file SIG_CylindricalJoint.cpp.

SIG_Joint::JointType SIGEL_Robot::SIG_CylindricalJoint::getJointType ( void ) const [virtual]
 

Returns the type of the joint the object represents.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 25 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getLeftBase ( void ) const
 

Definition at line 56 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getLeftDir ( void ) const
 

Definition at line 57 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getLeftHand ( void ) const
 

Definition at line 58 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getMaxRot ( void ) const
 

Definition at line 63 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getMaxTrans ( void ) const
 

Definition at line 66 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getMinRot ( void ) const
 

Definition at line 62 of file SIG_CylindricalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::getMinTrans ( void ) const
 

Definition at line 65 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getRightBase ( void ) const
 

Definition at line 59 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getRightDir ( void ) const
 

Definition at line 60 of file SIG_CylindricalJoint.cpp.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::getRightHand ( void ) const
 

Definition at line 61 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::setLeftPoints ( DL_vector B,
DL_vector D,
DL_vector H )
 

Definition at line 28 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::setRightPoints ( DL_vector B,
DL_vector D,
DL_vector H )
 

Definition at line 35 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::setRotationalRange ( DL_Scalar mn,
DL_Scalar mx,
DL_Scalar ii )
 

Definition at line 42 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::setTranslationalRange ( DL_Scalar mn,
DL_Scalar mx,
DL_Scalar ii )
 

Definition at line 49 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::transformPoints ( SIG_Link * side,
DL_vector mov,
DL_matrix rot ) [virtual]
 

Translates and rotates the points associated to the given link.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 70 of file SIG_CylindricalJoint.cpp.

void SIGEL_Robot::SIG_CylindricalJoint::writeToFileTransfer ( QTextStream & tx ) [virtual]
 

Writes the general joint data into a stream.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 102 of file SIG_CylindricalJoint.cpp.


Member Data Documentation

DL_vector SIGEL_Robot::SIG_CylindricalJoint::leftBase [private]
 

Definition at line 23 of file SIG_CylindricalJoint.h.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::leftDir [private]
 

Definition at line 24 of file SIG_CylindricalJoint.h.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::leftHand [private]
 

Definition at line 25 of file SIG_CylindricalJoint.h.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::rightBase [private]
 

Definition at line 23 of file SIG_CylindricalJoint.h.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::rightDir [private]
 

Definition at line 24 of file SIG_CylindricalJoint.h.

DL_vector SIGEL_Robot::SIG_CylindricalJoint::rightHand [private]
 

Definition at line 25 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::rotIni [private]
 

Definition at line 26 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::rotMax [private]
 

Definition at line 26 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::rotMin [private]
 

Definition at line 26 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::traIni [private]
 

Definition at line 27 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::traMax [private]
 

Definition at line 27 of file SIG_CylindricalJoint.h.

DL_Scalar SIGEL_Robot::SIG_CylindricalJoint::traMin [private]
 

Definition at line 27 of file SIG_CylindricalJoint.h.


The documentation for this class was generated from the following files:
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