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SIGEL_Robot::SIG_GlueJoint Class Reference

The class SIG_GlueJoint models a static connection between two links. More...

#include <SIG_GlueJoint.h>

Inheritance diagram for SIGEL_Robot::SIG_GlueJoint:

SIGEL_Robot::SIG_Joint List of all members.

Public Methods

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

void setPlaneA (DL_vector p1, DL_vector p2, DL_vector p3)
void setPlaneB (DL_vector p1, DL_vector p2, DL_vector p3)
void getPlaneA (DL_vector &p1, DL_vector &p2, DL_vector &p3)
void getPlaneB (DL_vector &p1, DL_vector &p2, DL_vector &p3)
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 ptA1
DL_vector ptA2
DL_vector ptA3
DL_vector ptB1
DL_vector ptB2
DL_vector ptB3

Detailed Description

The class SIG_GlueJoint models a static connection between two links.

To be precise: There will be zero degrees of freedom with this joint type.

Definition at line 15 of file SIG_GlueJoint.h.


Constructor & Destructor Documentation

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

Definition at line 5 of file SIG_GlueJoint.cpp.

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

Definition at line 9 of file SIG_GlueJoint.cpp.

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

Definition at line 20 of file SIG_GlueJoint.cpp.


Member Function Documentation

void SIGEL_Robot::SIG_GlueJoint::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 70 of file SIG_GlueJoint.cpp.

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

Returns the type of the joint the object represents.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 23 of file SIG_GlueJoint.cpp.

void SIGEL_Robot::SIG_GlueJoint::getPlaneA ( DL_vector & p1,
DL_vector & p2,
DL_vector & p3 )
 

Definition at line 42 of file SIG_GlueJoint.cpp.

void SIGEL_Robot::SIG_GlueJoint::getPlaneB ( DL_vector & p1,
DL_vector & p2,
DL_vector & p3 )
 

Definition at line 49 of file SIG_GlueJoint.cpp.

void SIGEL_Robot::SIG_GlueJoint::setPlaneA ( DL_vector p1,
DL_vector p2,
DL_vector p3 )
 

Definition at line 28 of file SIG_GlueJoint.cpp.

void SIGEL_Robot::SIG_GlueJoint::setPlaneB ( DL_vector p1,
DL_vector p2,
DL_vector p3 )
 

Definition at line 35 of file SIG_GlueJoint.cpp.

void SIGEL_Robot::SIG_GlueJoint::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 57 of file SIG_GlueJoint.cpp.

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

Writes the general joint data into a stream.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 89 of file SIG_GlueJoint.cpp.


Member Data Documentation

DL_vector SIGEL_Robot::SIG_GlueJoint::ptA1 [private]
 

Definition at line 17 of file SIG_GlueJoint.h.

DL_vector SIGEL_Robot::SIG_GlueJoint::ptA2 [private]
 

Definition at line 17 of file SIG_GlueJoint.h.

DL_vector SIGEL_Robot::SIG_GlueJoint::ptA3 [private]
 

Definition at line 17 of file SIG_GlueJoint.h.

DL_vector SIGEL_Robot::SIG_GlueJoint::ptB1 [private]
 

Definition at line 18 of file SIG_GlueJoint.h.

DL_vector SIGEL_Robot::SIG_GlueJoint::ptB2 [private]
 

Definition at line 18 of file SIG_GlueJoint.h.

DL_vector SIGEL_Robot::SIG_GlueJoint::ptB3 [private]
 

Definition at line 18 of file SIG_GlueJoint.h.


The documentation for this class was generated from the following files:
Generated at Mon Sep 3 01:32:42 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000