Main Page   Namespace List   Class Hierarchy   Compound List   File List   Namespace Members   Compound Members  

SIGEL_Simulation::SIG_DynaSystem Class Reference

The class DynaSystem is the gate to the Dynamo and the Solid-Library. More...

#include <SIG_DynaSystem.h>

Inheritance diagram for SIGEL_Simulation::SIG_DynaSystem:

List of all members.

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_DynaLinkgetLink (int number) throw (SIG_DynaSystemWrongNumberException)
 Gets a link to examine its data. More...

SIG_DynaJointgetJoint (int number) throw (SIG_DynaSystemWrongNumberException)
 Gets a joint to examine its data. More...

SIG_DynaDrivegetDrive (int number) throw (SIG_DynaSystemWrongNumberException)
 Gets a drive to examine its data. More...

SIG_DynaSensorgetSensor (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_DynaCallbacksdynaCallbacks
 The Dynamo Callbacks. More...

SIGEL_Robot::SIG_MaterialfloorMaterial
 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_DynaLinkdynaLinks
 storage for the SIG_DynaLinks. More...

QVector<SIG_DynaJointdynaJoints
 storage for the SIG_DynaJoints. More...

QVector<SIG_DynaSensordynaSensors
 storage for the SIG_DynaSensors. More...

QVector<SIG_DynaDrivedynaDrives
 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

Detailed Description

The class DynaSystem is the gate to the Dynamo and the Solid-Library.

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.


Constructor & Destructor Documentation

SIGEL_Simulation::SIG_DynaSystem::SIG_DynaSystem ( SIGEL_Environment::SIG_Environment const & theEnvironment,
SIG_SimulationParameters const & theSimulationParameters )
 

The constructor.

Sets up Solid and Dynamo plus integrator and callbacks

Definition at line 135 of file SIG_DynaSystem.cpp.

SIGEL_Simulation::SIG_DynaSystem::~SIG_DynaSystem ( )
 

The destructor.

Finishes Solid and Dynamo and Destroys the objects

Definition at line 188 of file SIG_DynaSystem.cpp.


Member Function Documentation

void SIGEL_Simulation::SIG_DynaSystem::checkCollisionPTPs ( )
 

Definition at line 34 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::clearAllDynamics ( )
 

Definition at line 214 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::collisionResponse ( void * client_data,
DtObjectRef obj1,
DtObjectRef obj2,
const DtCollData * coll_data ) [static]
 

The Collision callback of SOLID.

adds a collision constraint to Dynamo

Definition at line 240 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::doCollisionDetection ( )
 

The doCollision callback for SIG_DynaCallbacks.

Definition at line 457 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::doNewFrame ( )
 

Definition at line 27 of file SIG_DynaSystem.cpp.

SIGEL_Simulation::SIG_DynaDrive & SIGEL_Simulation::SIG_DynaSystem::getDrive ( int number ) throw (SIG_DynaSystemWrongNumberException)
 

Gets a drive to examine its data.

Parameters:
number   the number of the drive to return
Returns:
a reference to the drive

Definition at line 805 of file SIG_DynaSystem.cpp.

SIGEL_Simulation::SIG_DynaJoint & SIGEL_Simulation::SIG_DynaSystem::getJoint ( int number ) throw (SIG_DynaSystemWrongNumberException)
 

Gets a joint to examine its data.

Parameters:
number   the number of the joint to return
Returns:
a reference to the joint

Definition at line 794 of file SIG_DynaSystem.cpp.

SIGEL_Simulation::SIG_DynaLink & SIGEL_Simulation::SIG_DynaSystem::getLink ( int number ) throw (SIG_DynaSystemWrongNumberException)
 

Gets a link to examine its data.

Parameters:
number   the number of the link to return
Returns:
a reference to the link

Definition at line 781 of file SIG_DynaSystem.cpp.

SIGEL_Simulation::SIG_DynaSensor & SIGEL_Simulation::SIG_DynaSystem::getSensor ( int number ) throw (SIG_DynaSystemWrongNumberException)
 

Gets a sensor to examine its data.

Parameters:
number   the number of the sensor to return
Returns:
a reference to the sensor

Definition at line 816 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::initializeFloor ( )
 

Definition at line 198 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::msgFunction ( QString theMessage )
 

The message callback for SIG_DynaCallbacks.

Definition at line 452 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::newDrive ( SIGEL_Robot::SIG_Drive & theDrive )
 

Adds a drive to the DynaSystem by converting it.

Parameters:
theDrive   the drive to be added

Definition at line 768 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::newJoint ( SIGEL_Robot::SIG_Joint & theJoint )
 

Adds a joint to the DynaSystem by converting it.

Parameters:
theJoint   the joint to be added

Definition at line 566 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::newLink ( SIGEL_Robot::SIG_Link & theLink )
 

Adds a link to the DynaSystem by converting it.

Parameters:
theLink   the Link to be added

Definition at line 471 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::newSensor ( SIGEL_Robot::SIG_Sensor & theSensor )
 

Adds a sensor to the DynaSystem by converting it.

Parameters:
theSensor   the sensor to be added

Definition at line 756 of file SIG_DynaSystem.cpp.

DL_matrix SIGEL_Simulation::SIG_DynaSystem::rotationMatrix ( DL_vector axis,
DL_Scalar angle )
 

Definition at line 65 of file SIG_DynaSystem.cpp.

void SIGEL_Simulation::SIG_DynaSystem::signalDynamoMessage ( QString theMessage ) [signal]
 

if dynamo throws an error message, this signal will be thrown.

(and will be catched by SIG_Simulation)

DL_matrix SIGEL_Simulation::SIG_DynaSystem::unNaN ( DL_matrix val ) [static]
 

Definition at line 125 of file SIG_DynaSystem.cpp.

DL_vector SIGEL_Simulation::SIG_DynaSystem::unNaN ( DL_vector val ) [static]
 

Definition at line 113 of file SIG_DynaSystem.cpp.

DL_point SIGEL_Simulation::SIG_DynaSystem::unNaN ( DL_point val ) [static]
 

Definition at line 119 of file SIG_DynaSystem.cpp.

DL_Scalar SIGEL_Simulation::SIG_DynaSystem::unNaN ( DL_Scalar val ) [static]
 

Definition at line 91 of file SIG_DynaSystem.cpp.


Member Data Documentation

DL_constraint_manager * SIGEL_Simulation::SIG_DynaSystem::constraintManager
 

The Dynamo Constraint Manager.

Definition at line 68 of file SIG_DynaSystem.h.

SIG_DynaCallbacks * SIGEL_Simulation::SIG_DynaSystem::dynaCallbacks
 

The Dynamo Callbacks.

Definition at line 71 of file SIG_DynaSystem.h.

QVector< SIG_DynaDrive > SIGEL_Simulation::SIG_DynaSystem::dynaDrives
 

storage for the SIG_DynaDrives.

Definition at line 181 of file SIG_DynaSystem.h.

QVector< SIG_DynaJoint > SIGEL_Simulation::SIG_DynaSystem::dynaJoints
 

storage for the SIG_DynaJoints.

Definition at line 175 of file SIG_DynaSystem.h.

QVector< SIG_DynaLink > SIGEL_Simulation::SIG_DynaSystem::dynaLinks
 

storage for the SIG_DynaLinks.

Definition at line 172 of file SIG_DynaSystem.h.

QVector< SIG_DynaSensor > SIGEL_Simulation::SIG_DynaSystem::dynaSensors
 

storage for the SIG_DynaSensors.

Definition at line 178 of file SIG_DynaSystem.h.

DL_dyna_system * SIGEL_Simulation::SIG_DynaSystem::dynaSystem
 

The Dynamo DynaSystem.

Definition at line 62 of file SIG_DynaSystem.h.

SIGEL_Environment::SIG_Environment const & SIGEL_Simulation::SIG_DynaSystem::environment
 

a reference to the environment.

Definition at line 163 of file SIG_DynaSystem.h.

DtShapeRef SIGEL_Simulation::SIG_DynaSystem::floor
 

storage for the floor shape in SOLID.

Definition at line 169 of file SIG_DynaSystem.h.

SIGEL_Robot::SIG_Material * SIGEL_Simulation::SIG_DynaSystem::floorMaterial
 

The Floor Material.

Definition at line 74 of file SIG_DynaSystem.h.

bool SIGEL_Simulation::SIG_DynaSystem::foundNaN [static]
 

Definition at line 40 of file SIG_DynaSystem.h.

DL_m_integrator * SIGEL_Simulation::SIG_DynaSystem::mIntegrator
 

The Dynamo Integrator.

Definition at line 65 of file SIG_DynaSystem.h.

bool SIGEL_Simulation::SIG_DynaSystem::newFrame
 

Definition at line 39 of file SIG_DynaSystem.h.

int SIGEL_Simulation::SIG_DynaSystem::rootLinkNo
 

here the dynasystem remembers the number of the root link in the static robot modell.

Definition at line 160 of file SIG_DynaSystem.h.

SIG_SimulationParameters const & SIGEL_Simulation::SIG_DynaSystem::simulationParameters
 

a reference to the simulation parameters.

Definition at line 166 of file SIG_DynaSystem.h.


The documentation for this class was generated from the following files:
Generated at Mon Sep 3 01:32:38 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000