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

SIG_RobotCompilerStructure.h

00001 #ifndef SIGEL_ROBOTIO_SIG_ROBOTCOMPILERSTRUCTURE_H
00002 #define SIGEL_ROBOTIO_SIG_ROBOTCOMPILERSTRUCTURE_H
00003 
00004 namespace SIGEL_RobotIO { class SIG_RobotCompilerStructure; }
00005 
00006 #include "SIGEL_Robot/SIG_Robot.h"
00007 #include "SIGEL_Robot/SIG_Geometry.h"
00008 #include "SIGEL_RobotIO/SIG_RobotScanner.h"
00009 #include "SIGEL_RobotIO/SIG_RobotCompiler.h"
00010 #include "SIGEL_RobotIO/SIG_RobotIOExceptions.h"
00011 
00012 namespace SIGEL_RobotIO {
00013         class SIG_RobotCompilerStructure : public SIG_RobotCompiler {
00014         public:
00015                 SIG_RobotCompilerStructure (SIG_RobotScanner &sc,
00016                                             SIG_Robot *tg,
00017                                             QString homepath);
00018                 virtual ~SIG_RobotCompilerStructure (void);
00019 
00020                 virtual SIG_Material *materialFind (QString name);
00021                 virtual void materialDensity (SIG_Material *material,
00022                                               DL_Scalar density);
00023                 virtual void materialFriction (SIG_Material *material,
00024                                                QString otherSide,
00025                                                DL_Scalar frictionconst);
00026                 virtual void materialElasticity (SIG_Material *material,
00027                                                  DL_Scalar elasconst);
00028                 virtual void materialColour (SIG_Material *material,
00029                                              DL_Scalar red,
00030                                              DL_Scalar green,
00031                                              DL_Scalar blue);
00032                 virtual void materialFinish (SIG_Material *material);
00033 
00034                 virtual SIG_Link *linkFind (QString name);
00035                 virtual void linkIsTorso (SIG_Link *link);
00036                 virtual void linkGeometryFile (SIG_Link *link,
00037                                                QString geometryfile);
00038                 virtual void linkMaterial (SIG_Link *link,
00039                                            QString material);
00040                 virtual void linkPoint (SIG_Link *link,
00041                                         QString pointname,
00042                                         DL_Scalar x,
00043                                         DL_Scalar y,
00044                                         DL_Scalar z);
00045                 virtual void linkNoCollide (SIG_Link *link,
00046                                             QString nocollide);
00047                 virtual void linkFinish (SIG_Link *link);
00048 
00049                 virtual SIG_RotationalJoint *rjointFind (QString name);
00050                 virtual void rjointLinking (SIG_RotationalJoint *rj,
00051                                             QString Alink, QString AB, QString AD, QString AH,
00052                                             QString Blink, QString BB, QString BD, QString BH);
00053                 virtual void rjointExtents (SIG_RotationalJoint *rj,
00054                                             DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00055                 virtual void rjointFinish (SIG_RotationalJoint *rj);
00056 
00057                 virtual SIG_TranslationalJoint *tjointFind (QString name);
00058                 virtual void tjointLinking (SIG_TranslationalJoint *tj,
00059                                             QString Alink, QString AB, QString AD, QString AF,
00060                                             QString Blink, QString BB, QString BD, QString BF);
00061                 virtual void tjointExtents (SIG_TranslationalJoint *tj,
00062                                             DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00063                 virtual void tjointFinish (SIG_TranslationalJoint *tj);
00064 
00065                 virtual SIG_CylindricalJoint *cjointFind (QString name);
00066                 virtual void cjointLinking (SIG_CylindricalJoint *cj,
00067                                             QString Alink, QString AB, QString AD, QString AH,
00068                                             QString Blink, QString BB, QString BD, QString BH);
00069                 virtual void cjointRotExtents (SIG_CylindricalJoint *cj,
00070                                                DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00071                 virtual void cjointTraExtents (SIG_CylindricalJoint *cj,
00072                                                DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00073                 virtual void cjointFinish (SIG_CylindricalJoint *cj);
00074 
00075                 virtual SIG_GlueJoint *glueFind (QString name);
00076                 virtual void glueLinking (SIG_GlueJoint *glue,
00077                                           QString Alink, QString AA, QString AB, QString AC,
00078                                           QString Blink, QString BP, QString BQ, QString BR);
00079                 virtual void glueFinish (SIG_GlueJoint *glue);
00080 
00081                 virtual SIG_Drive *driveFind (QString name);
00082                 virtual void driveMode (SIG_Drive *d, QString mode);
00083                 virtual void driveJoint (SIG_Drive *d, QString jointname);
00084                 virtual void driveMinMaxForce (SIG_Drive *d, DL_Scalar minf, DL_Scalar maxf);
00085                 virtual void driveFinish (SIG_Drive *d);
00086 
00087                 virtual SIG_JointSensor *jointSensorFind (QString name);
00088                 virtual void jointSensorJoint (SIG_JointSensor *js, QString jointname);
00089                 virtual void jointSensorFinish (SIG_JointSensor *js);
00090 
00091                 virtual SIG_Geometry *surfaceFind (QString name) {}
00092                 virtual SIG_Polygon *surfaceNewPoly (SIG_Geometry *g) {}
00093                 virtual void surfaceNewPoint (SIG_Polygon *p,
00094                                               DL_Scalar x,
00095                                               DL_Scalar y,
00096                                               DL_Scalar z) {}
00097                 virtual void surfaceFinish (SIG_Geometry *g, QString name) {}
00098         };
00099 }
00100 
00101 #endif

Generated at Mon Sep 3 01:32:30 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000