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SIG_DynaLink.h

00001 #ifndef SIGEL_SIMULATION_SIG_DYNALINK_H
00002 #define SIGEL_SIMULATION_SIG_DYNALINK_H
00003 
00004 #include <qvector.h>
00005 #include "constraint.h"
00006 #include "ptp.h"
00007 #include "SOLID/solid.h"
00008 #include "SIGEL_Robot/SIG_Link.h"
00009 #include "SIGEL_Robot/SIG_Material.h"
00010 
00011 namespace SIGEL_Simulation
00012 {
00013 
00021 class SIG_DynaLink {
00022  public:
00023   DL_ptp * collptp;
00024   
00026   SIGEL_Robot::SIG_Material * floorMaterial;
00027  
00029   SIGEL_Robot::SIG_Link const * link;
00030 
00032   int number;
00033   
00035   DL_point position;
00036 
00038   DL_matrix orientation;
00039 
00041   DL_dyna* dyna;
00042 
00044   DtShapeRef shape;
00045 
00050   SIG_DynaLink(DL_point thePosition, DL_matrix theOrientation);
00051 
00056   ~SIG_DynaLink();
00057 
00063   void getNewGeoInfo(DL_geo* g);
00064 
00071   void updateDynaCompanion(DL_dyna* d);
00072 
00079   void getFirstGeoInfo(DL_geo* g);
00080 
00088   void checkInertiaTensor(DL_dyna* d);
00089 };
00090 
00091 }
00092 
00093 #endif // SIGEL_SIMULATION_SIG_DYNALINK_H
00094 

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