#include <DH_Chain.h>
Public Types | |
typedef Joint< DataType, dim > | JointType |
typedef DH_Link< DataType, dim > | LinkType |
typedef Scene< DataType, dim > | SceneType |
Public Member Functions | |
DH_Chain () | |
DH_Chain (const DH_Chain &v) | |
~DH_Chain () | |
virtual void | AddJoint (JointType *j) |
virtual void | AddJoint (JointType &j) |
void | addLink (LinkType *l) |
void | addLink (LinkType &l) |
void | addNativeLink (LinkType *l) |
void | addNativeLink (LinkType &l) |
int | GetNumNativeLinks () const |
LinkType * | GetNthNative (int i) |
void | addTernLink (int link, int nativeLink) |
int | GetNumTernLinks () const |
int | GetNumLinks () const |
LinkType * | GetNthLink (int i) |
void | calcDHMat (int baseLink, int targetLink) |
void | calcNativeDHMat (SceneType &TheScene, LinkType *native, int baseLink, int targetLink) |
void | updateLinks () |
void | setParentChain (int val) |
int | getParentChain () |
void | print (Scene< DataType, dim > &thisScene, int level) |
virtual void | Restart (std::ifstream &ifs, int &pos, double &t, double &dt) |
virtual void | Checkpointing (std::ofstream &ofs) |
void | setId (int val) |
Protected Attributes | |
int | id |
std::vector< JointType * > | joints |
std::vector< LinkType * > | links |
std::vector< LinkType * > | natives |
std::vector< boost::array< int, 2 > > | terNlinks |
bool | mobile |
int | parentChainId |
MType | tipDHMat |
int | num_terNlinks |
int | num_joints |
int | num_links |
int | num_natives |
Friends | |
class | Joint< DataType, dim > |
class | DH_Link< DataType, dim > |
class | SceneBase< DataType, dim > |
class | Scene< DataType, dim > |
Container used to expresss the pose of a connection of N DH_Links.
typedef DH_Link<DataType,dim> DH_Chain< DataType, dim >::LinkType |
DH_Chain< DataType, dim >::DH_Chain | ( | const DH_Chain< DataType, dim > & | v | ) | [inline] |
References DH_Chain< DataType, dim >::id, DH_Chain< DataType, dim >::joints, DH_Chain< DataType, dim >::links, DH_Chain< DataType, dim >::mobile, DH_Chain< DataType, dim >::natives, DH_Chain< DataType, dim >::parentChainId, DH_Chain< DataType, dim >::terNlinks, and DH_Chain< DataType, dim >::tipDHMat.
virtual void DH_Chain< DataType, dim >::AddJoint | ( | JointType & | j | ) | [inline, virtual] |
References DH_Chain< DataType, dim >::AddJoint().
Referenced by DH_Chain< DataType, dim >::AddJoint().
virtual void DH_Chain< DataType, dim >::AddJoint | ( | JointType * | j | ) | [inline, virtual] |
References Joint< DataType, dim >::id, and DH_Chain< DataType, dim >::joints.
Referenced by main().
void DH_Chain< DataType, dim >::addLink | ( | LinkType & | l | ) | [inline] |
References DH_Chain< DataType, dim >::addLink().
Referenced by DH_Chain< DataType, dim >::addLink().
void DH_Chain< DataType, dim >::addLink | ( | LinkType * | l | ) | [inline] |
References DH_Link< DataType, dim >::id, and DH_Chain< DataType, dim >::links.
Referenced by main().
void DH_Chain< DataType, dim >::addNativeLink | ( | LinkType & | l | ) | [inline] |
References DH_Chain< DataType, dim >::addNativeLink().
Referenced by DH_Chain< DataType, dim >::addNativeLink().
void DH_Chain< DataType, dim >::addNativeLink | ( | LinkType * | l | ) | [inline] |
References DH_Link< DataType, dim >::id, and DH_Chain< DataType, dim >::natives.
Referenced by main().
void DH_Chain< DataType, dim >::addTernLink | ( | int | link, | |
int | nativeLink | |||
) | [inline] |
References DH_Chain< DataType, dim >::terNlinks.
virtual void DH_Chain< DataType, dim >::Checkpointing | ( | std::ofstream & | ofs | ) | [inline, virtual] |
References DH_Chain< DataType, dim >::joints, DH_Chain< DataType, dim >::links, DH_Chain< DataType, dim >::natives, DH_Chain< DataType, dim >::num_joints, DH_Chain< DataType, dim >::num_links, DH_Chain< DataType, dim >::num_natives, DH_Chain< DataType, dim >::num_terNlinks, DH_Chain< DataType, dim >::terNlinks, and DH_Chain< DataType, dim >::tipDHMat.
LinkType* DH_Chain< DataType, dim >::GetNthLink | ( | int | i | ) | [inline] |
References DH_Chain< DataType, dim >::links.
LinkType* DH_Chain< DataType, dim >::GetNthNative | ( | int | i | ) | [inline] |
References DH_Chain< DataType, dim >::natives.
References DH_Chain< DataType, dim >::links.
Referenced by DH_Chain< DataType, dim >::print().
int DH_Chain< DataType, dim >::GetNumNativeLinks | ( | ) | const [inline] |
References DH_Chain< DataType, dim >::natives.
Referenced by DH_Chain< DataType, dim >::print().
int DH_Chain< DataType, dim >::GetNumTernLinks | ( | ) | const [inline] |
References DH_Chain< DataType, dim >::terNlinks.
Referenced by DH_Chain< DataType, dim >::print().
References DH_Chain< DataType, dim >::parentChainId.
Referenced by MotionSolver< DataType, dim >::Initialize().
void DH_Chain< DataType, dim >::print | ( | Scene< DataType, dim > & | thisScene, | |
int | level | |||
) | [inline] |
References DH_Chain< DataType, dim >::GetNumLinks(), DH_Chain< DataType, dim >::GetNumNativeLinks(), DH_Chain< DataType, dim >::GetNumTernLinks(), DH_Chain< DataType, dim >::links, DH_Chain< DataType, dim >::natives, and DH_Chain< DataType, dim >::terNlinks.
Referenced by MotionSolver< DataType, dim >::Initialize().
virtual void DH_Chain< DataType, dim >::Restart | ( | std::ifstream & | ifs, | |
int & | pos, | |||
double & | t, | |||
double & | dt | |||
) | [inline, virtual] |
References DH_Chain< DataType, dim >::joints, DH_Chain< DataType, dim >::links, DH_Chain< DataType, dim >::natives, DH_Chain< DataType, dim >::num_joints, DH_Chain< DataType, dim >::num_links, DH_Chain< DataType, dim >::num_natives, DH_Chain< DataType, dim >::num_terNlinks, DH_Chain< DataType, dim >::terNlinks, and DH_Chain< DataType, dim >::tipDHMat.
void DH_Chain< DataType, dim >::setParentChain | ( | int | val | ) | [inline] |
References DH_Chain< DataType, dim >::parentChainId.
Referenced by main().
References DH_Chain< DataType, dim >::links, and DH_Chain< DataType, dim >::natives.
index number in Scene DH_chains
Referenced by DH_Chain< DataType, dim >::DH_Chain().
std::vector<LinkType *> DH_Chain< DataType, dim >::links [protected] |
Referenced by DH_Chain< DataType, dim >::addLink(), DH_Chain< DataType, dim >::calcDHMat(), DH_Chain< DataType, dim >::calcNativeDHMat(), DH_Chain< DataType, dim >::Checkpointing(), DH_Chain< DataType, dim >::DH_Chain(), DH_Chain< DataType, dim >::GetNthLink(), DH_Chain< DataType, dim >::GetNumLinks(), DH_Chain< DataType, dim >::print(), DH_Chain< DataType, dim >::Restart(), and DH_Chain< DataType, dim >::updateLinks().
Referenced by DH_Chain< DataType, dim >::DH_Chain().
std::vector<LinkType *> DH_Chain< DataType, dim >::natives [protected] |
Referenced by DH_Chain< DataType, dim >::addNativeLink(), DH_Chain< DataType, dim >::Checkpointing(), DH_Chain< DataType, dim >::DH_Chain(), DH_Chain< DataType, dim >::GetNthNative(), DH_Chain< DataType, dim >::GetNumNativeLinks(), DH_Chain< DataType, dim >::print(), DH_Chain< DataType, dim >::Restart(), and DH_Chain< DataType, dim >::updateLinks().
int DH_Chain< DataType, dim >::num_joints [protected] |
Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().
Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().
int DH_Chain< DataType, dim >::num_natives [protected] |
Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().
int DH_Chain< DataType, dim >::num_terNlinks [protected] |
Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().
int DH_Chain< DataType, dim >::parentChainId [protected] |
std::vector<boost::array<int, 2> > DH_Chain< DataType, dim >::terNlinks [protected] |
terNlinks[][][] indicates the ternery link fromed by links[] and natives[]. It relates a Part's or Assembly's (natives[]->child points to a joint at ) to link[] in the kinetic chain.
The three distinct joints are links[]->parent, links[]->child natives[]->parent, and natives[]->child.
Referenced by DH_Chain< DataType, dim >::addTernLink(), DH_Chain< DataType, dim >::Checkpointing(), DH_Chain< DataType, dim >::DH_Chain(), DH_Chain< DataType, dim >::GetNumTernLinks(), DH_Chain< DataType, dim >::print(), and DH_Chain< DataType, dim >::Restart().