robot::sim::SimulatedKinematicChain Class Reference

Inheritance diagram for robot::sim::SimulatedKinematicChain:

[legend]Collaboration diagram for robot::sim::SimulatedKinematicChain:

[legend]List of all members.


Public Types
typedef std::bitset< sizeof(Int)*8	CollidableFlags )
typedef Int	CollidableFlag
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	SimulatedKinematicChain (bool dynamic=true)
	SimulatedKinematicChain (ref< physics::SolidSystem > solidSystem, bool dynamic=true)
virtual void	setDynamic (bool enabled)
virtual void	setSolidSystem (ref< physics::SolidSystem > solidSystem)
virtual void	setJointForce (Int j, Real f)=0
	Set the force (torque for revolute joints) of joint j (first joint j=1).
virtual void	setJointVel (Int j, Real v, Real maxForce=10.0)=0
	Set the velocity (ang. velocity for revolute joints) of joint j (first joint j=1).
virtual void	setJointPos (Int j, Real p)=0
	Set the position (angle for revolute joints) of joint j (first joint j=1).
virtual Real	getJointPos (Int j) const=0
	Get the current theta* angle (revolute) or position d (prismatic) of the joint.
virtual Real	getJointVel (Int j) const=0
	Get the current joint velocity (ang. velocity for revolute joints).
virtual Real	getClosestObjectDistance (Int link) const=0
	get distance to closest object detected by proximity sensors on the link
virtual Vector3	getClosestObjectDirection (Int link) const=0
	get the direction vector to the closest object detected by proximity sensors on the link
virtual Real	getClosestObjectSensorPosition (Int link) const=0
	get the distance along the link x-axis of the proximity sensor that detected the closest object to the link
virtual void	setPositionOrientation (const Point3 &pos, const Orient &orient)
virtual void	setConfiguration (const base::Transform &configuration)
virtual base::Transform	getConfiguration () const
virtual void	setPosition2D (const base::Point2 &p, Real theta)
	set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)
virtual base::Point2	getPosition2D () const
	get the 2D (x,y) position
Real	getOrientation2D () const
	get the 2D angle theta (rot. angle about Z-axis)
virtual void	setPosition (const Point3 &pos)=0
virtual Point3	getPosition () const=0
virtual void	setOrientation (const Orient &orient)=0
virtual Orient	getOrientation () const=0
virtual const String &	getName () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
virtual String	className () const=0
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual ref< Collidable >	createCollidable (CollidableFlags flags=0)=0
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const=0
	query if specific format is supported (for input, output or both)
virtual void	externalize (Externalizer &e, String format="", Real version=1.0)=0
	read or write object state to Externalizer
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
Static Public Attributes
const Real	maxDist
Protected Types
enum	CollidableClasses { SensorCollidableClass = 1 }
Protected Member Functions
	SimulatedKinematicChain (const SimulatedKinematicChain &kc)
virtual void	construct (const base::Point3 &initialPosition, const base::Orient &initialOrientation)=0
	construct an approximation of the manipulator from the D-H parameters (best we can do)
virtual array< base::Dimension3 >	computeLinkDimensions (const array< Real > &linkRadii)
virtual void	createLinks (const array< base::Dimension3 > &linkDims)=0
	create the Solids for each link and assemble them into a Spatial tree (and add them to solidSystem)
virtual void	positionLinks (const TransformInfo &transformInfo)=0
	position the links
virtual void	disableCollisions (const array< ref< physics::Collidable > > &collidables, const array< ref< physics::Collidable > > &proximityCollidables)=0
virtual void	attachJoints (const TransformInfo &transformInfo)=0
virtual void	handleCollision (ref< physics::CollisionState > collisionState)=0
	called from ProximityCollisionResponseHandler::handleCollision()
virtual void	setName (const String &name)
Protected Attributes
KinematicChain	chain
ref< physics::SolidSystem >	solidSystem
bool	dynamic
	true for a dynamic simulation, fasle for static (no force/torque or velocity control, just position control)
array< ref< physics::SpatialGroup > >	linkGroups
	a group for each link (which contains the link Solid and the group for the next link)
array< ref< physics::Solid > >	links
	Solids for each link.
array< ref< physics::Joint > >	joints
	Joint attaching each pair of consecutive links (dynamic simulation only).
array< Real >	linkLengths
	Length of each link corresponding with links[].
array< ref< physics::Collidable > >	collidables
	collidables for each link Solid
array< ref< physics::Collidable > >	proximityCollidables
	collidables for each link's proximity sensor
base::Vector	q
	current joint parameters (static simulation only)
ref< physics::CollidableGroup >	proximityCollidableGroup
array< ProximityData >	linkProximity
array< Real >	linkProximitySurfPosition
	dist from link axis of proximity sensor (i.e. on link sufrace)
int	_refCount
bool	onUnreferenceEnabled
Friends
class	SimulatedRobot
class	ProximityCollisionResponseHandler

Detailed Description

Base for concrete classes that simulate kinematic chains

such as manipulators and tools

Definition at line 51 of file SimulatedKinematicChain.

Member Typedef Documentation

typedef Int physics::CollidableProvider::CollidableFlag [inherited]

Definition at line 45 of file CollidableProvider.

typedef std::bitset<sizeof(Int)*8 physics::CollidableProvider::CollidableFlags) [inherited]

Definition at line 44 of file CollidableProvider.

Member Enumeration Documentation

enum robot::sim::SimulatedKinematicChain::CollidableClasses [protected]

Enumeration values:

SensorCollidableClass

Definition at line 177 of file SimulatedKinematicChain.

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

robot::sim::SimulatedKinematicChain::SimulatedKinematicChain ( bool dynamic = true ) [inline]

Definition at line 54 of file SimulatedKinematicChain.

robot::sim::SimulatedKinematicChain::SimulatedKinematicChain ( ref< physics::SolidSystem > solidSystem,

bool dynamic = true

) [inline]

Definition at line 56 of file SimulatedKinematicChain.

robot::sim::SimulatedKinematicChain::SimulatedKinematicChain ( const SimulatedKinematicChain & kc ) [inline, protected]

Definition at line 107 of file SimulatedKinematicChain.
References Unimplemented.

Member Function Documentation

virtual void robot::sim::SimulatedKinematicChain::attachJoints ( const TransformInfo & transformInfo ) [protected, pure virtual]

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual array<base::Dimension3> robot::sim::SimulatedKinematicChain::computeLinkDimensions ( const array< Real > & linkRadii ) [protected, virtual]

compute the dimensions of each link's Solid based on the KinematicChain and fill in linkLengths[1..dof]
Reimplemented in robot::sim::SimulatedSerialManipulator.

virtual void robot::sim::SimulatedKinematicChain::construct ( const base::Point3 & initialPosition,

const base::Orient & initialOrientation

) [protected, pure virtual]

construct an approximation of the manipulator from the D-H parameters (best we can do)

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual ref<Collidable> physics::CollidableProvider::createCollidable ( CollidableFlags flags = 0 ) [pure virtual, inherited]

Implemented in physics::ODESolidSystem, physics::Solid, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual void robot::sim::SimulatedKinematicChain::createLinks ( const array< base::Dimension3 > & linkDims ) [protected, pure virtual]

create the Solids for each link and assemble them into a Spatial tree (and add them to solidSystem)

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual void robot::sim::SimulatedKinematicChain::disableCollisions ( const array< ref< physics::Collidable > > & collidables,

const array< ref< physics::Collidable > > & proximityCollidables

) [protected, pure virtual]

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

void base::Referenced::enableOnUnreferenceCall ( bool enabled ) [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 115 of file Referenced.
References base::Referenced::onUnreferenceEnabled.

virtual void base::Externalizable::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) const [virtual, inherited]

write object state to Externalizer (throws if e is in Input)

Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void base::Externalizable::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) [pure virtual, inherited]

read or write object state to Externalizer

Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual bool base::Externalizable::formatSupported ( String format,

Real version = 1.0,

ExternalizationType type = IO

) const [pure virtual, inherited]

query if specific format is supported (for input, output or both)

Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual Vector3 robot::sim::SimulatedKinematicChain::getClosestObjectDirection ( Int link ) const [pure virtual]

get the direction vector to the closest object detected by proximity sensors on the link

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual Real robot::sim::SimulatedKinematicChain::getClosestObjectDistance ( Int link ) const [pure virtual]

get distance to closest object detected by proximity sensors on the link

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual Real robot::sim::SimulatedKinematicChain::getClosestObjectSensorPosition ( Int link ) const [pure virtual]

get the distance along the link x-axis of the proximity sensor that detected the closest object to the link

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual base::Transform physics::PositionableOrientable::getConfiguration ( ) const [inline, virtual, inherited]

Reimplemented in physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Definition at line 60 of file PositionableOrientable.
References physics::Orientable::getOrientation(), and physics::Positionable::getPosition().
Referenced by physics::CollidableBody::getBoundingBox(), physics::DynamicSpatial::getGlobalPointRelPos(), physics::DynamicSpatial::getRelPointPos(), physics::PositionableOrientable::operator=(), and physics::PositionableOrientable::PositionableOrientable().

virtual Real robot::sim::SimulatedKinematicChain::getJointPos ( Int j ) const [pure virtual]

Get the current theta* angle (revolute) or position d (prismatic) of the joint.
*NB: the angle is relative to the theta home position.
Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual Real robot::sim::SimulatedKinematicChain::getJointVel ( Int j ) const [pure virtual]

Get the current joint velocity (ang. velocity for revolute joints).

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual const String& base::Named::getName ( ) const [inline, virtual, inherited]

Definition at line 44 of file Named.
References base::String.
Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

virtual Orient physics::Orientable::getOrientation ( ) const [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Referenced by physics::PositionableOrientable::getConfiguration(), and physics::Orientable::operator=().

Real physics::PositionableOrientable::getOrientation2D ( ) const [inherited]

get the 2D angle theta (rot. angle about Z-axis)

virtual Point3 physics::Positionable::getPosition ( ) const [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Referenced by physics::PositionableOrientable::getConfiguration(), physics::PositionableOrientable::getPosition2D(), and physics::Positionable::operator=().

virtual base::Point2 physics::PositionableOrientable::getPosition2D ( ) const [inline, virtual, inherited]

get the 2D (x,y) position

Definition at line 72 of file PositionableOrientable.
References physics::Positionable::getPosition(), base::Point2, base::Point3, base::Vector3::x, and base::Vector3::y.

virtual void robot::sim::SimulatedKinematicChain::handleCollision ( ref< physics::CollisionState > collisionState ) [protected, pure virtual]

called from ProximityCollisionResponseHandler::handleCollision()

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs ( const ReferencedObject & ) const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

virtual void base::Referenced::onUnreference ( ) const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references
Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.
Definition at line 121 of file Referenced.
Referenced by base::Referenced::unreference().

virtual void robot::sim::SimulatedKinematicChain::positionLinks ( const TransformInfo & transformInfo ) [protected, pure virtual]

position the links

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

void base::Referenced::reference ( ) const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it.
Definition at line 65 of file Referenced.
References base::Referenced::_refCount.

const int base::Referenced::referenceCount ( ) const [inline, inherited]

Return the number pointers currently referencing this object.
Definition at line 112 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void base::Externalizable::save ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

virtual void physics::PositionableOrientable::setConfiguration ( const base::Transform & configuration ) [inline, virtual, inherited]

Reimplemented in physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Definition at line 53 of file PositionableOrientable.
References base::Transform::getRotation(), base::Transform::getTranslation(), physics::Orientable::setOrientation(), and physics::Positionable::setPosition().
Referenced by physics::PositionableOrientable::operator=(), physics::PositionableOrientable::PositionableOrientable(), and physics::PositionableOrientable::setPositionOrientation().

virtual void robot::sim::SimulatedKinematicChain::setDynamic ( bool enabled ) [inline, virtual]

Reimplemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Definition at line 60 of file SimulatedKinematicChain.

virtual void robot::sim::SimulatedKinematicChain::setJointForce ( Int j,

Real f

) [pure virtual]

Set the force (torque for revolute joints) of joint j (first joint j=1).

Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual void robot::sim::SimulatedKinematicChain::setJointPos ( Int j,

Real p

) [pure virtual]

Set the position (angle for revolute joints) of joint j (first joint j=1).
NB: This will instantaneously move the joint to the specified angle - which obviously is not physically realistic. Consequently, for dynamic simulations, this can cause large forces in the system and possibly numerical instability in the simulation. It is intended for non-dynamic simulations. NB: the angle is relative to the theta home position.
Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual void robot::sim::SimulatedKinematicChain::setJointVel ( Int j,

Real v,

Real maxForce = 10.0

) [pure virtual]

Set the velocity (ang. velocity for revolute joints) of joint j (first joint j=1).
NB: As the simulation is force controlled, this will set the target velocity
Implemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.

virtual void base::Named::setName ( const String & name ) [inline, protected, virtual, inherited]

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle.
Definition at line 47 of file Named.
References base::String.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

virtual void physics::Orientable::setOrientation ( const Orient & orient ) [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Referenced by physics::Orientable::operator=(), and physics::PositionableOrientable::setConfiguration().

virtual void physics::Positionable::setPosition ( const Point3 & pos ) [pure virtual, inherited]

Implemented in physics::DynamicSpatial, physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::SolidConnectedCollidableBody, physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Referenced by physics::Positionable::operator=(), and physics::PositionableOrientable::setConfiguration().

virtual void physics::PositionableOrientable::setPosition2D ( const base::Point2 & p,

Real theta

) [virtual, inherited]

set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)

virtual void physics::PositionableOrientable::setPositionOrientation ( const Point3 & pos,

const Orient & orient

) [inline, virtual, inherited]

Definition at line 48 of file PositionableOrientable.
References base::Point3, and physics::PositionableOrientable::setConfiguration().

virtual void robot::sim::SimulatedKinematicChain::setSolidSystem ( ref< physics::SolidSystem > solidSystem ) [inline, virtual]

Reimplemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Definition at line 62 of file SimulatedKinematicChain.

bool base::Referenced::unreference ( ) const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.
Definition at line 81 of file Referenced.
References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

Friends And Related Function Documentation

friend class ProximityCollisionResponseHandler [friend]

Reimplemented in robot::sim::SimulatedSerialManipulator.
Definition at line 196 of file SimulatedKinematicChain.

friend class SimulatedRobot [friend]

Reimplemented in robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool.
Definition at line 195 of file SimulatedKinematicChain.

Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced.
Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

KinematicChain robot::sim::SimulatedKinematicChain::chain [protected]

Definition at line 109 of file SimulatedKinematicChain.

array<ref<physics::Collidable> > robot::sim::SimulatedKinematicChain::collidables [protected]

collidables for each link Solid

Definition at line 150 of file SimulatedKinematicChain.

bool robot::sim::SimulatedKinematicChain::dynamic [protected]

true for a dynamic simulation, fasle for static (no force/torque or velocity control, just position control)

Definition at line 113 of file SimulatedKinematicChain.

array<ref<physics::Joint> > robot::sim::SimulatedKinematicChain::joints [protected]

Joint attaching each pair of consecutive links (dynamic simulation only).

Definition at line 148 of file SimulatedKinematicChain.

array<ref<physics::SpatialGroup> > robot::sim::SimulatedKinematicChain::linkGroups [protected]

a group for each link (which contains the link Solid and the group for the next link)

Reimplemented in robot::sim::SimulatedSerialManipulator.
Definition at line 145 of file SimulatedKinematicChain.

array<Real> robot::sim::SimulatedKinematicChain::linkLengths [protected]

Length of each link corresponding with links[].

Definition at line 149 of file SimulatedKinematicChain.

array< ProximityData > robot::sim::SimulatedKinematicChain::linkProximity [protected]

Definition at line 191 of file SimulatedKinematicChain.

array< Real > robot::sim::SimulatedKinematicChain::linkProximitySurfPosition [protected]

dist from link axis of proximity sensor (i.e. on link sufrace)

Definition at line 193 of file SimulatedKinematicChain.

array<ref<physics::Solid> > robot::sim::SimulatedKinematicChain::links [protected]

Solids for each link.

Definition at line 147 of file SimulatedKinematicChain.

const Real robot::sim::SimulatedKinematicChain::maxDist [static]

Definition at line 94 of file SimulatedKinematicChain.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced.
Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

ref<physics::CollidableGroup> robot::sim::SimulatedKinematicChain::proximityCollidableGroup [protected]

Definition at line 179 of file SimulatedKinematicChain.

array<ref<physics::Collidable> > robot::sim::SimulatedKinematicChain::proximityCollidables [protected]

collidables for each link's proximity sensor

Definition at line 151 of file SimulatedKinematicChain.

base::Vector robot::sim::SimulatedKinematicChain::q [mutable, protected]

current joint parameters (static simulation only)

Definition at line 153 of file SimulatedKinematicChain.

ref<physics::SolidSystem> robot::sim::SimulatedKinematicChain::solidSystem [protected]

Definition at line 110 of file SimulatedKinematicChain.

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

robot/sim/SimulatedKinematicChain

Generated on Thu Jul 29 16:43:05 2004 for OpenSim by

1.3.6

robot::sim::SimulatedKinematicChain Class Reference

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes