#include <SIG_DynaSystem.h>
Inheritance diagram for SIGEL_Simulation::SIG_DynaSystem:
Public Methods | |
void | doNewFrame () |
void | checkCollisionPTPs () |
DL_matrix | rotationMatrix (DL_vector axis, DL_Scalar angle) |
void | msgFunction (QString theMessage) |
The message callback for SIG_DynaCallbacks. More... | |
void | doCollisionDetection () |
The doCollision callback for SIG_DynaCallbacks. More... | |
void | clearAllDynamics () |
void | initializeFloor () |
SIG_DynaSystem (SIGEL_Environment::SIG_Environment const & theEnvironment, SIG_SimulationParameters const & theSimulationParameters) | |
The constructor. More... | |
~SIG_DynaSystem () | |
The destructor. More... | |
void | newLink (SIGEL_Robot::SIG_Link& theLink) |
Adds a link to the DynaSystem by converting it. More... | |
void | newJoint (SIGEL_Robot::SIG_Joint& theJoint) |
Adds a joint to the DynaSystem by converting it. More... | |
void | newDrive (SIGEL_Robot::SIG_Drive& theDrive) |
Adds a drive to the DynaSystem by converting it. More... | |
void | newSensor (SIGEL_Robot::SIG_Sensor& theSensor) |
Adds a sensor to the DynaSystem by converting it. More... | |
SIG_DynaLink& | getLink (int number) throw (SIG_DynaSystemWrongNumberException) |
Gets a link to examine its data. More... | |
SIG_DynaJoint& | getJoint (int number) throw (SIG_DynaSystemWrongNumberException) |
Gets a joint to examine its data. More... | |
SIG_DynaDrive& | getDrive (int number) throw (SIG_DynaSystemWrongNumberException) |
Gets a drive to examine its data. More... | |
SIG_DynaSensor& | getSensor (int number) throw (SIG_DynaSystemWrongNumberException) |
Gets a sensor to examine its data. More... | |
Public Attributes | |
bool | newFrame |
DL_dyna_system* | dynaSystem |
The Dynamo DynaSystem. More... | |
DL_m_integrator* | mIntegrator |
The Dynamo Integrator. More... | |
DL_constraint_manager* | constraintManager |
The Dynamo Constraint Manager. More... | |
SIG_DynaCallbacks* | dynaCallbacks |
The Dynamo Callbacks. More... | |
SIGEL_Robot::SIG_Material* | floorMaterial |
The Floor Material. More... | |
int | rootLinkNo |
here the dynasystem remembers the number of the root link in the static robot modell. More... | |
SIGEL_Environment::SIG_Environment const& | environment |
a reference to the environment. More... | |
SIG_SimulationParameters const& | simulationParameters |
a reference to the simulation parameters. More... | |
DtShapeRef | floor |
storage for the floor shape in SOLID. More... | |
QVector<SIG_DynaLink> | dynaLinks |
storage for the SIG_DynaLinks. More... | |
QVector<SIG_DynaJoint> | dynaJoints |
storage for the SIG_DynaJoints. More... | |
QVector<SIG_DynaSensor> | dynaSensors |
storage for the SIG_DynaSensors. More... | |
QVector<SIG_DynaDrive> | dynaDrives |
storage for the SIG_DynaDrives. More... | |
Signals | |
void | signalDynamoMessage (QString theMessage) |
if dynamo throws an error message, this signal will be thrown. More... | |
Static Public Methods | |
DL_Scalar | unNaN (DL_Scalar val) |
DL_point | unNaN (DL_point val) |
DL_vector | unNaN (DL_vector val) |
DL_matrix | unNaN (DL_matrix val) |
void | collisionResponse (void * client_data, DtObjectRef obj1, DtObjectRef obj2, const DtCollData *coll_data) |
The Collision callback of SOLID. More... | |
Static Public Attributes | |
bool | foundNaN |
Here will be all the commands to create new dyna-objects, constraints and for them their solid counterparts.
Definition at line 33 of file SIG_DynaSystem.h.
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The constructor. Sets up Solid and Dynamo plus integrator and callbacks Definition at line 135 of file SIG_DynaSystem.cpp. |
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The destructor. Finishes Solid and Dynamo and Destroys the objects Definition at line 188 of file SIG_DynaSystem.cpp. |
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Definition at line 34 of file SIG_DynaSystem.cpp. |
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Definition at line 214 of file SIG_DynaSystem.cpp. |
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The Collision callback of SOLID. adds a collision constraint to Dynamo Definition at line 240 of file SIG_DynaSystem.cpp. |
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The doCollision callback for SIG_DynaCallbacks.
Definition at line 457 of file SIG_DynaSystem.cpp. |
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Definition at line 27 of file SIG_DynaSystem.cpp. |
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Gets a drive to examine its data.
Definition at line 805 of file SIG_DynaSystem.cpp. |
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Gets a joint to examine its data.
Definition at line 794 of file SIG_DynaSystem.cpp. |
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Gets a link to examine its data.
Definition at line 781 of file SIG_DynaSystem.cpp. |
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Gets a sensor to examine its data.
Definition at line 816 of file SIG_DynaSystem.cpp. |
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Definition at line 198 of file SIG_DynaSystem.cpp. |
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The message callback for SIG_DynaCallbacks.
Definition at line 452 of file SIG_DynaSystem.cpp. |
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Adds a drive to the DynaSystem by converting it.
Definition at line 768 of file SIG_DynaSystem.cpp. |
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Adds a joint to the DynaSystem by converting it.
Definition at line 566 of file SIG_DynaSystem.cpp. |
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Adds a link to the DynaSystem by converting it.
Definition at line 471 of file SIG_DynaSystem.cpp. |
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Adds a sensor to the DynaSystem by converting it.
Definition at line 756 of file SIG_DynaSystem.cpp. |
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Definition at line 65 of file SIG_DynaSystem.cpp. |
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if dynamo throws an error message, this signal will be thrown. (and will be catched by SIG_Simulation) |
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Definition at line 125 of file SIG_DynaSystem.cpp. |
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Definition at line 113 of file SIG_DynaSystem.cpp. |
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Definition at line 119 of file SIG_DynaSystem.cpp. |
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Definition at line 91 of file SIG_DynaSystem.cpp. |
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The Dynamo Constraint Manager.
Definition at line 68 of file SIG_DynaSystem.h. |
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The Dynamo Callbacks.
Definition at line 71 of file SIG_DynaSystem.h. |
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storage for the SIG_DynaDrives.
Definition at line 181 of file SIG_DynaSystem.h. |
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storage for the SIG_DynaJoints.
Definition at line 175 of file SIG_DynaSystem.h. |
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storage for the SIG_DynaLinks.
Definition at line 172 of file SIG_DynaSystem.h. |
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storage for the SIG_DynaSensors.
Definition at line 178 of file SIG_DynaSystem.h. |
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The Dynamo DynaSystem.
Definition at line 62 of file SIG_DynaSystem.h. |
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a reference to the environment.
Definition at line 163 of file SIG_DynaSystem.h. |
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storage for the floor shape in SOLID.
Definition at line 169 of file SIG_DynaSystem.h. |
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The Floor Material.
Definition at line 74 of file SIG_DynaSystem.h. |
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Definition at line 40 of file SIG_DynaSystem.h. |
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The Dynamo Integrator.
Definition at line 65 of file SIG_DynaSystem.h. |
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Definition at line 39 of file SIG_DynaSystem.h. |
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here the dynasystem remembers the number of the root link in the static robot modell.
Definition at line 160 of file SIG_DynaSystem.h. |
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a reference to the simulation parameters.
Definition at line 166 of file SIG_DynaSystem.h. |