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SIGEL_Simulation::SIG_DynaMechsSimulationData Class Reference

This Class is used to wrap all relevant data for the simulation. More...

#include <SIG_DynaMechsSimulationData.h>

Inheritance diagram for SIGEL_Simulation::SIG_DynaMechsSimulationData:

SIGEL_Simulation::SIG_SimulationData List of all members.

Public Methods

 SIG_DynaMechsSimulationData ( SIGEL_Robot::SIG_Robot const & robot, SIGEL_Environment::SIG_Environment const & environment, SIG_SimulationParameters const & simulationParameter )
 Constructor for SIG_DynaMechsSimulationData. More...

void simulationProgress ()
void setNewFrame ( bool newValue )

Public Attributes

dmEnvironment dynaMechsEnvironment
dmArticulation dynaMechsSystem
dmIntegrator* dynaMechsIntegrator
QVector< SIG_DynaMechsLink > dynaMechsLinks
QArray< int > jointIndices
QVector< SIGEL_Robot::SIG_Drivedrives
QArray< double > driveForcesTimeAccounts
QVector< SIGEL_Robot::SIG_Sensorsensors
int noOfDrives

Private Methods

void initializeEnvironment ()
void initializeArticulation ()
SIG_DynaMechsLink* initializeJoint ( SIGEL_Robot::SIG_Joint *joint, SIGEL_Robot::SIG_Link const *caller )
void rotationMatrixToQuaternion ( NEWMAT::Matrix rotationMatrix, double &x, double &y, double &z, double &w )

Private Attributes

double const pi

Detailed Description

This Class is used to wrap all relevant data for the simulation.

It contains the robot, the environment, the dynasystem and the parameters as well as the timeframe. All these objects are public. So one has to access them with this class.

Definition at line 25 of file SIG_DynaMechsSimulationData.h.


Constructor & Destructor Documentation

SIGEL_Simulation::SIG_DynaMechsSimulationData::SIG_DynaMechsSimulationData ( SIGEL_Robot::SIG_Robot const & robot,
SIGEL_Environment::SIG_Environment const & environment,
SIGEL_Simulation::SIG_SimulationParameters const & simulationParameter )
 

Constructor for SIG_DynaMechsSimulationData.

SIG_SimulationData is constructed by the SIG_Simulation object.

Parameters:
robot   The robot object which is simulated is passed to the SIG_SimulationData object from the SIG_Simulation object.
environment   The environment in which the robot is simulated. It is passed to the SIG_SimulationData object from the SIG_Simulation object.
simulationParameter   The parameters which specify the circumstances under which the simulation takes place. Passed from the SIG_Simulation object.

Definition at line 24 of file SIG_DynaMechsSimulationData.cpp.


Member Function Documentation

void SIGEL_Simulation::SIG_DynaMechsSimulationData::initializeArticulation ( ) [private]
 

Definition at line 232 of file SIG_DynaMechsSimulationData.cpp.

void SIGEL_Simulation::SIG_DynaMechsSimulationData::initializeEnvironment ( ) [private]
 

Definition at line 200 of file SIG_DynaMechsSimulationData.cpp.

SIGEL_Simulation::SIG_DynaMechsLink * SIGEL_Simulation::SIG_DynaMechsSimulationData::initializeJoint ( SIGEL_Robot::SIG_Joint * joint,
SIGEL_Robot::SIG_Link const * caller ) [private]
 

Definition at line 303 of file SIG_DynaMechsSimulationData.cpp.

void SIGEL_Simulation::SIG_DynaMechsSimulationData::rotationMatrixToQuaternion ( NEWMAT::Matrix rotationMatrix,
double & x,
double & y,
double & z,
double & w ) [private]
 

Definition at line 439 of file SIG_DynaMechsSimulationData.cpp.

void SIGEL_Simulation::SIG_DynaMechsSimulationData::setNewFrame ( bool newValue ) [virtual]
 

Reimplemented from SIGEL_Simulation::SIG_SimulationData.

Definition at line 148 of file SIG_DynaMechsSimulationData.cpp.

void SIGEL_Simulation::SIG_DynaMechsSimulationData::simulationProgress ( ) [virtual]
 

Reimplemented from SIGEL_Simulation::SIG_SimulationData.

Definition at line 151 of file SIG_DynaMechsSimulationData.cpp.


Member Data Documentation

QArray< double > SIGEL_Simulation::SIG_DynaMechsSimulationData::driveForcesTimeAccounts
 

Definition at line 63 of file SIG_DynaMechsSimulationData.h.

QVector< SIGEL_Robot::SIG_Drive > SIGEL_Simulation::SIG_DynaMechsSimulationData::drives
 

Definition at line 61 of file SIG_DynaMechsSimulationData.h.

dmEnvironment SIGEL_Simulation::SIG_DynaMechsSimulationData::dynaMechsEnvironment
 

Definition at line 51 of file SIG_DynaMechsSimulationData.h.

dmIntegrator * SIGEL_Simulation::SIG_DynaMechsSimulationData::dynaMechsIntegrator
 

Definition at line 55 of file SIG_DynaMechsSimulationData.h.

QVector< SIG_DynaMechsLink > SIGEL_Simulation::SIG_DynaMechsSimulationData::dynaMechsLinks
 

Definition at line 57 of file SIG_DynaMechsSimulationData.h.

dmArticulation SIGEL_Simulation::SIG_DynaMechsSimulationData::dynaMechsSystem
 

Definition at line 53 of file SIG_DynaMechsSimulationData.h.

QArray< int > SIGEL_Simulation::SIG_DynaMechsSimulationData::jointIndices
 

Definition at line 59 of file SIG_DynaMechsSimulationData.h.

int SIGEL_Simulation::SIG_DynaMechsSimulationData::noOfDrives
 

Definition at line 67 of file SIG_DynaMechsSimulationData.h.

double const SIGEL_Simulation::SIG_DynaMechsSimulationData::pi [private]
 

Definition at line 84 of file SIG_DynaMechsSimulationData.h.

QVector< SIGEL_Robot::SIG_Sensor > SIGEL_Simulation::SIG_DynaMechsSimulationData::sensors
 

Definition at line 65 of file SIG_DynaMechsSimulationData.h.


The documentation for this class was generated from the following files:
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