DH_Chain< DataType, dim > Class Template Reference

#include <DH_Chain.h>

List of all members.

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 >

---

Detailed Description

template<class DataType, int dim>
class DH_Chain< DataType, dim >

Container used to expresss the pose of a connection of N DH_Links.

---

Member Typedef Documentation

template<class DataType , int dim>

typedef Joint<DataType,dim> DH_Chain< DataType, dim >::JointType

template<class DataType , int dim>

typedef DH_Link<DataType,dim> DH_Chain< DataType, dim >::LinkType

template<class DataType , int dim>

typedef Scene<DataType,dim> DH_Chain< DataType, dim >::SceneType

---

Constructor & Destructor Documentation

template<class DataType , int dim>

DH_Chain< DataType, dim >::DH_Chain

(

)

[inline]

References 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.

template<class DataType , int dim>

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.

template<class DataType , int dim>

DH_Chain< DataType, dim >::~DH_Chain

(

)

[inline]

---

Member Function Documentation

template<class DataType , int dim>

virtual void DH_Chain< DataType, dim >::AddJoint

(

JointType &

j

)

[inline, virtual]

References DH_Chain< DataType, dim >::AddJoint().

Referenced by DH_Chain< DataType, dim >::AddJoint().

template<class DataType , int dim>

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().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::addLink

(

LinkType &

l

)

[inline]

References DH_Chain< DataType, dim >::addLink().

Referenced by DH_Chain< DataType, dim >::addLink().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::addLink

(

LinkType *

l

)

[inline]

References DH_Link< DataType, dim >::id, and DH_Chain< DataType, dim >::links.

Referenced by main().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::addNativeLink

(

LinkType &

l

)

[inline]

References DH_Chain< DataType, dim >::addNativeLink().

Referenced by DH_Chain< DataType, dim >::addNativeLink().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::addNativeLink

(

LinkType *

l

)

[inline]

References DH_Link< DataType, dim >::id, and DH_Chain< DataType, dim >::natives.

Referenced by main().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::addTernLink	(	int	link,
		int	nativeLink
	)			[inline]

References DH_Chain< DataType, dim >::terNlinks.

template<class DataType , int dim>

void DH_Chain< DataType, dim >::calcDHMat	(	int	baseLink,
		int	targetLink
	)			[inline]

References Joint< DataType, dim >::CFIdTag(), DH_Link< DataType, dim >::child, SceneBase< DataType, dim >::GetAssembly(), SceneBase< DataType, dim >::GetPart(), SceneBase< DataType, dim >::idTag, and DH_Chain< DataType, dim >::links.

template<class DataType , int dim>

void DH_Chain< DataType, dim >::calcNativeDHMat	(	SceneType &	TheScene,
		LinkType *	native,
		int	baseLink,
		int	targetLink
	)			[inline]

References Joint< DataType, dim >::CFIdTag(), DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::DHMat, SceneBase< DataType, dim >::GetAssembly(), SceneBase< DataType, dim >::GetPart(), SceneBase< DataType, dim >::idTag, and DH_Chain< DataType, dim >::links.

template<class DataType , int dim>

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.

template<class DataType , int dim>

LinkType* DH_Chain< DataType, dim >::GetNthLink

(

int

i

)

[inline]

References DH_Chain< DataType, dim >::links.

template<class DataType , int dim>

LinkType* DH_Chain< DataType, dim >::GetNthNative

(

int

i

)

[inline]

References DH_Chain< DataType, dim >::natives.

template<class DataType , int dim>

int DH_Chain< DataType, dim >::GetNumLinks

(

)

const [inline]

References DH_Chain< DataType, dim >::links.

Referenced by DH_Chain< DataType, dim >::print().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::GetNumNativeLinks

(

)

const [inline]

References DH_Chain< DataType, dim >::natives.

Referenced by DH_Chain< DataType, dim >::print().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::GetNumTernLinks

(

)

const [inline]

References DH_Chain< DataType, dim >::terNlinks.

Referenced by DH_Chain< DataType, dim >::print().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::getParentChain

(

)

[inline]

References DH_Chain< DataType, dim >::parentChainId.

Referenced by MotionSolver< DataType, dim >::Initialize().

template<class DataType , int dim>

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().

template<class DataType , int dim>

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.

template<class DataType , int dim>

void DH_Chain< DataType, dim >::setId

(

int

val

)

[inline]

template<class DataType , int dim>

void DH_Chain< DataType, dim >::setParentChain

(

int

val

)

[inline]

References DH_Chain< DataType, dim >::parentChainId.

Referenced by main().

template<class DataType , int dim>

void DH_Chain< DataType, dim >::updateLinks

(

)

[inline]

References DH_Chain< DataType, dim >::links, and DH_Chain< DataType, dim >::natives.

---

Friends And Related Function Documentation

template<class DataType , int dim>

friend class DH_Link< DataType, dim > [friend]

template<class DataType , int dim>

friend class Joint< DataType, dim > [friend]

template<class DataType , int dim>

friend class Scene< DataType, dim > [friend]

template<class DataType , int dim>

friend class SceneBase< DataType, dim > [friend]

---

Member Data Documentation

template<class DataType , int dim>

int DH_Chain< DataType, dim >::id [protected]

index number in Scene DH_chains

Referenced by DH_Chain< DataType, dim >::DH_Chain().

template<class DataType , int dim>

std::vector<JointType *> DH_Chain< DataType, dim >::joints [protected]

Referenced by DH_Chain< DataType, dim >::AddJoint(), DH_Chain< DataType, dim >::Checkpointing(), DH_Chain< DataType, dim >::DH_Chain(), and DH_Chain< DataType, dim >::Restart().

template<class DataType , int dim>

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().

template<class DataType , int dim>

bool DH_Chain< DataType, dim >::mobile [protected]

Referenced by DH_Chain< DataType, dim >::DH_Chain().

template<class DataType , int dim>

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().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::num_joints [protected]

Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::num_links [protected]

Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::num_natives [protected]

Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::num_terNlinks [protected]

Referenced by DH_Chain< DataType, dim >::Checkpointing(), and DH_Chain< DataType, dim >::Restart().

template<class DataType , int dim>

int DH_Chain< DataType, dim >::parentChainId [protected]

Referenced by DH_Chain< DataType, dim >::DH_Chain(), DH_Chain< DataType, dim >::getParentChain(), and DH_Chain< DataType, dim >::setParentChain().

template<class DataType , int dim>

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().

template<class DataType , int dim>

MType DH_Chain< DataType, dim >::tipDHMat [protected]

Referenced by DH_Chain< DataType, dim >::Checkpointing(), DH_Chain< DataType, dim >::DH_Chain(), and DH_Chain< DataType, dim >::Restart().

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

• kernel/DH_Chain.h