#include <SIG_Robot.h>
Public Methods | |
SIG_Robot (void) | |
Standard constructor. More... | |
SIG_Robot (QTextStream & tx) | |
File or network constructor. More... | |
SIG_Robot (const SIG_Robot & rob) | |
copy constructor. More... | |
~SIG_Robot (void) | |
Destructor. More... | |
void | clear (void) |
Makes this a fresh and empty robot object. More... | |
void | addBody (SIG_Body *b) |
Adds the geometry information. More... | |
void | addMaterial (SIG_Material *m) |
Adds a SIG_Material object. More... | |
void | addLink (SIG_Link *l, bool islink = false) |
Adds a SIG_Link object. More... | |
void | addJoint (SIG_Joint *j) |
Adds a SIG_Joint object (or one of its descendants). More... | |
void | addDrive (SIG_Drive *d) |
Adds a SIG_Drive object. More... | |
void | addSensor (SIG_Sensor *s) |
Adds a SIG_Sensor object (or one of its descendants). More... | |
void | setLangParam (SIG_LanguageParameters *lp, int delprev = 1) |
Sets a new language parameters object. More... | |
SIG_LanguageParameters* | getLangParam (void) const |
Returns the language parameter object. More... | |
SIG_Body* | lookupBody (QString n) const |
Returns a SIG_Body object. More... | |
SIG_Material* | lookupMaterial (QString n) const |
Returns a SIG_Material object. More... | |
SIG_Link* | lookupLink (QString n) const |
Returns a SIG_Link object. More... | |
SIG_Joint* | lookupJoint (QString n) const |
Returns a SIG_Joint object. More... | |
SIG_Drive* | lookupDrive (QString n) const |
Returns a SIG_Drive object. More... | |
SIG_Sensor* | lookupSensor (QString n) const |
Returns a SIG_Sensor object. More... | |
QDictIterator<SIG_Body> | getBodyIter (void) const |
Returns an iterator over all SIG_Body objects. More... | |
QDictIterator<SIG_Material> | getMaterialIter (void) const |
Returns an iterator over all SIG_Material objects. More... | |
QDictIterator<SIG_Link> | getLinkIter (void) const |
Returns an iterator over all SIG_Link objects. More... | |
QDictIterator<SIG_Joint> | getJointIter (void) const |
Returns an iterator over all SIG_Joint objects. More... | |
QDictIterator<SIG_Drive> | getDriveIter (void) const |
Returns an iterator over all SIG_Drive objects. More... | |
QDictIterator<SIG_Sensor> | getSensorIter (void) const |
Returns an iterator over all SIG_Sensor objects. More... | |
SIG_Link const* | getRootLink (void) const |
Returns the root link. More... | |
int | getNrOfPoints (void) const |
Returns the number of points that are annotated to links by the user. More... | |
void | setRootLink (SIG_Link *l) |
Marks a link as the root link. More... | |
void | initiate (void) |
initiate calculates the initial positions and orientations of the links. More... | |
void | loadGeometries (void) |
Makes all body objects load its geometr descriptions from file. More... | |
void | instantiateGeometries (void) |
Duplicates the geometry descriptions loaded within a previous step. More... | |
void | prepareDynaMo (void) |
Transforms the links' coordinate system to a form which is suitable for simulation with DynaMo. More... | |
void | prepareDynaMechs (void) |
Transforms the links' coordinate system to a form which is suitable for simulation with DynaMechs. More... | |
void | writeToFileTransfer (QTextStream & tx) const |
Robot to text stream transformation. More... | |
void | readFromFileTransfer (QTextStream & tx) |
Helper functions for ill-built programs. More... | |
Public Attributes | |
DL_vector | initialLocation |
DL_matrix | initialOrientation |
Static Public Methods | |
void | vectorToStream (QTextStream & tx, DL_vector vec) |
INTERNAL. More... | |
DL_vector | streamToVector (QTextStream & tx) |
INTERNAL. More... | |
void | matrixToStream (QTextStream & tx, DL_matrix mat) |
INTERNAL. More... | |
DL_matrix | streamToMatrix (QTextStream & tx) |
INTERNAL. More... | |
Private Attributes | |
SIG_LanguageParameters* | language |
SIG_Link* | rootlink |
QDict<SIG_Body> | bodies |
QDict<SIG_Material> | materials |
QDict<SIG_Link> | links |
QDict<SIG_Joint> | joints |
QDict<SIG_Drive> | drives |
QDict<SIG_Sensor> | sensors |
Having access to the SIG_Robot object one is able to obtain any information necessary to work with the robot model.
Note that this is a static model. No values will changed during the simulation. Therefore, a copy consisting of Dynamo lib objects, the dynamic model, has to be made.
Definition at line 34 of file SIG_Robot.h.
|
Standard constructor. The standard constructor creates an empty robot model with no links and joints. Definition at line 12 of file SIG_Robot.cpp. |
|
File or network constructor. This constructor reads the whole robot from a stream, which may e.g. be linked to a file or to a network device. The information stored to and read from the stream includes the surface description.
Definition at line 20 of file SIG_Robot.cpp. |
|
copy constructor. internally, it works via text streams. Definition at line 29 of file SIG_Robot.cpp. |
|
Destructor.
Definition at line 42 of file SIG_Robot.cpp. |
|
Adds the geometry information. This adds a geometry information object of class SIG_Body. It is stored with the DXF Filename as its key. Definition at line 79 of file SIG_Robot.cpp. |
|
Adds a SIG_Drive object.
Definition at line 103 of file SIG_Robot.cpp. |
|
Adds a SIG_Joint object (or one of its descendants).
Definition at line 98 of file SIG_Robot.cpp. |
|
Adds a SIG_Link object.
Definition at line 89 of file SIG_Robot.cpp. |
|
Adds a SIG_Material object.
Definition at line 84 of file SIG_Robot.cpp. |
|
Adds a SIG_Sensor object (or one of its descendants).
Definition at line 108 of file SIG_Robot.cpp. |
|
Makes this a fresh and empty robot object.
Definition at line 48 of file SIG_Robot.cpp. |
|
Returns an iterator over all SIG_Body objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 155 of file SIG_Robot.cpp. |
|
Returns an iterator over all SIG_Drive objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 175 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_DynaMechsSimulationData::SIG_DynaMechsSimulationData(), and SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData(). |
|
Returns an iterator over all SIG_Joint objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 170 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData(). |
|
Returns the language parameter object.
Definition at line 120 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_Simulation::SIG_Simulation(). |
|
Returns an iterator over all SIG_Link objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 165 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData(), SIGEL_Visualisation::SIG_SimulationVisualisation::SIG_SimulationVisualisation(), SIGEL_Visualisation::SIG_SimulationVisualisation::updateRobotLinks(), and SIGEL_Visualisation::SIG_SimulationVisualisation::updateRobotPoints(). |
|
Returns an iterator over all SIG_Material objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 160 of file SIG_Robot.cpp. |
|
Returns the number of points that are annotated to links by the user.
Definition at line 190 of file SIG_Robot.cpp. Referenced by SIGEL_Visualisation::SIG_SimulationVisualisation::SIG_SimulationVisualisation(). |
|
Returns the root link. The root link is also contained within the dictionary of links. Definition at line 185 of file SIG_Robot.cpp. |
|
Returns an iterator over all SIG_Sensor objects. This is a QDictIterator. Please read the Qt Library documentation to get informed about the usage of the iterator. Definition at line 180 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_DynaMechsSimulationData::SIG_DynaMechsSimulationData(), and SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData(). |
|
initiate calculates the initial positions and orientations of the links. Afterwards, all constraints that will be used in Dynamo are solved in advance. WARNING! If there is a link loop within the robot, there may be constraints that are not solved. This depends on the soundness of the values the user entered. CORRECTION! If the conditions that are described in the warning above are true, an exception will be thrown. Definition at line 207 of file SIG_Robot.cpp. |
|
Duplicates the geometry descriptions loaded within a previous step. Afterwards, different links do not share a common geometry object. Definition at line 227 of file SIG_Robot.cpp. |
|
Makes all body objects load its geometr descriptions from file.
Definition at line 218 of file SIG_Robot.cpp. |
|
Returns a SIG_Body object.
Definition at line 125 of file SIG_Robot.cpp. |
|
Returns a SIG_Drive object.
Definition at line 145 of file SIG_Robot.cpp. |
|
Returns a SIG_Joint object.
Definition at line 140 of file SIG_Robot.cpp. |
|
Returns a SIG_Link object.
Definition at line 135 of file SIG_Robot.cpp. |
|
Returns a SIG_Material object.
Definition at line 130 of file SIG_Robot.cpp. Referenced by SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData(). |
|
Returns a SIG_Sensor object.
Definition at line 150 of file SIG_Robot.cpp. |
|
INTERNAL. Writes a matrix to a stream. This is a convenience function. Definition at line 390 of file SIG_Robot.cpp. |
|
Transforms the links' coordinate system to a form which is suitable for simulation with DynaMechs. Also performs calculation of initial positions and modified Denavit-Hartenberg parameters. Definition at line 249 of file SIG_Robot.cpp. Referenced by SIGEL_GP::SIG_GPFitnessTrainer::SIG_GPFitnessTrainer(), and SIGEL_MasterGUI::SIG_AllIndividualsView::slotVisualize(). |
|
Transforms the links' coordinate system to a form which is suitable for simulation with DynaMo. Also calculates initial positions. Definition at line 236 of file SIG_Robot.cpp. Referenced by SIGEL_GP::SIG_GPFitnessTrainer::SIG_GPFitnessTrainer(), and SIGEL_MasterGUI::SIG_AllIndividualsView::slotVisualize(). |
|
Helper functions for ill-built programs.
Definition at line 326 of file SIG_Robot.cpp. Referenced by SIGEL_GP::SIG_GPExperiment::loadExperiment(). |
|
Sets a new language parameters object. If delprev is set to zero, the previous one will not be deleted. Definition at line 113 of file SIG_Robot.cpp. |
|
Marks a link as the root link. The root link has to be within the dictionary of links already. Definition at line 202 of file SIG_Robot.cpp. |
|
INTERNAL. Reads a matrix from a stream. This is a convenience function. Definition at line 397 of file SIG_Robot.cpp. |
|
INTERNAL. Reads a vector from a stream. This is a convenience function. Definition at line 383 of file SIG_Robot.cpp. |
|
INTERNAL. Writes a vector to a stream. This is a convenience function. Definition at line 376 of file SIG_Robot.cpp. |
|
Robot to text stream transformation. This method writes the whole robot including the surface information into a stream. When it is connected to a file, the robot can be saved to disk. When it is connected to a network socket, the robot can be propagated through a network. Definition at line 269 of file SIG_Robot.cpp. Referenced by SIGEL_GP::SIG_GPExperiment::saveExperiment(), and SIGEL_GP::SIG_GPPVMData::savePVMDataTransfer(). |
|
Definition at line 38 of file SIG_Robot.h. |
|
Definition at line 42 of file SIG_Robot.h. |
|
Definition at line 74 of file SIG_Robot.h. |
|
Definition at line 75 of file SIG_Robot.h. |
|
Definition at line 41 of file SIG_Robot.h. |
|
Definition at line 36 of file SIG_Robot.h. |
|
Definition at line 40 of file SIG_Robot.h. |
|
Definition at line 39 of file SIG_Robot.h. |
|
Definition at line 37 of file SIG_Robot.h. |
|
Definition at line 43 of file SIG_Robot.h. |