robot::sim::SimulatedSerialManipulator Class Reference

Inheritance diagram for robot::sim::SimulatedSerialManipulator:

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

[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
	SimulatedSerialManipulator (bool dynamic=true)
	SimulatedSerialManipulator (ref< physics::SolidSystem > solidSystem, bool dynamic=true)
	SimulatedSerialManipulator (ref< const robot::ManipulatorDescription > manipulatorDescription, ref< physics::SolidSystem > solidSystem, bool dynamic=true)
virtual String	className () const
virtual void	setDynamic (bool enabled)
virtual void	setSolidSystem (ref< physics::SolidSystem > solidSystem)
ref< const SimulatedManipulatorDescription >	getManipulatorDescription () const
ref< physics::Solid >	getBaseSolid () const
	< get the Solid for the base link
void	setJointForce (Int j, Real f)
	Set the force (torque for revolute joints) of joint j (first joint j=1).
void	setJointVel (Int j, Real v, Real maxForce=10.0)
	Set the velocity (ang. velocity for revolute joints) of joint j (first joint j=1).
void	setJointPos (Int j, Real p)
	Set the position (angle for revolute joints) of joint j (first joint j=1).
Real	getJointPos (Int j) const
	Get the current theta* angle (revolute) or position d (prismatic) of the joint.
Real	getJointVel (Int j) const
	Get the current joint velocity (ang. velocity for revolute joints).
base::Point3	getEEPosition () const
	end-effector position in WorldFrame
base::Orient	getEEOrientation () const
	end-effector orientation in WorldFrame
bool	checkProximity (ref< SimulatedTool > tool)
	test if tool is in position to be grasped by the end-effector.
ref< SimulatedTool >	getToolInProximity () const
	get the last tool passed to checkProximity() that was in proximity to the end-effector (or 0)
bool	isToolGrasped () const
	returns true if a tool is currently being grasped
bool	graspTool ()
void	releaseGrasp ()
	release grasp
Real	getClosestObjectDistance (Int link) const
	get distance to closest object detected by proximity sensors on the link
Vector3	getClosestObjectDirection (Int link) const
	get the direction vector to the closest object detected by proximity sensors on the link
Real	getClosestObjectSensorPosition (Int link) const
	get the distance along the link x-axis of the proximity sensor that detected the closest object to the link
virtual void	setPosition (const Point3 &pos)
virtual Point3	getPosition () const
virtual void	setOrientation (const Orient &orient)
virtual Orient	getOrientation () const
virtual void	setConfiguration (const base::Transform &configuration)
virtual base::Transform	getConfiguration () const
virtual ref< physics::Collidable >	createCollidable (CollidableFlags flags=0)
virtual bool	formatSupported (const String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (base::Externalizer &e, const String format="", Real version=1.0)
	read or write object state to Externalizer
virtual void	externalize (base::Externalizer &e, const String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual void	setPositionOrientation (const Point3 &pos, const Orient &orient)
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 const String &	getName () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
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
	SimulatedSerialManipulator (const SimulatedSerialManipulator &sm)
void	construct (const base::Point3 &initialPosition, const base::Orient &initialOrientation)
	construct an approximation of the manipulator from the D-H parameters (best we can do)
array< base::Dimension3 >	computeLinkDimensions (const array< Real > &linkRadii)
TransformInfo	computeLinkTransforms (const Transform &mountTransform, const base::Vector &q) const
	compute transform information for chain
virtual void	createLinks (const array< base::Dimension3 > &linkDims)
	create the Solids for each link and assemble them into a Spatial tree (and add them to solidSystem)
virtual void	positionLinks (const TransformInfo &transformInfo)
	position the links
virtual void	disableCollisions (const array< ref< physics::Collidable > > &collidables, const array< ref< physics::Collidable > > &proximityCollidables)
virtual void	attachJoints (const TransformInfo &transformInfo)
void	setToolInProximity (ref< SimulatedTool > tool)
virtual void	handleCollision (ref< physics::CollisionState > collisionState)
	called from ProximityCollisionResponseHandler::handleCollision()
virtual void	setName (const String &name)
Protected Attributes
ref< const SimulatedManipulatorDescription >	manipulatorDescr
Transform	mountConfiguration
	the mount configuration of the manipulator (WorldFrame)
Transform	mountToBaseSolid
	transform from mount frame to base Solid frame
Transform	eeToEESolid
	transform from ee frame to ee Solid frame
ref< physics::Solid >	baseSolid
	Solid for the base link.
ref< physics::Solid >	endSolid
	Solid for the end link.
array< ref< physics::SpatialGroup > >	linkGroups
	a group for each link (which contains the link Solid and the group for the next link)
Real	proximityDistance
	distance between ee and tool below which is considered within grasping proximity
Real	proximityAngle
	anglular distance components between ee and tool below which is considered within grasping range
ref< SimulatedTool >	proximityTool
	last tool found to be in proximity of the end-effector (by checkProximity())
bool	toolGrasped
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::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
class	base::Serializable::SerializableDerivedInstantiator< SimulatedSerialManipulator >

Detailed Description

Represents a a simulated manipulator according to a supplied D-H parameter specification. Simulated using gfx/physics.

Definition at line 53 of file SimulatedSerialManipulator.

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, inherited]

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::SimulatedSerialManipulator::SimulatedSerialManipulator ( bool dynamic = true )

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

bool dynamic = true

)

robot::sim::SimulatedSerialManipulator::SimulatedSerialManipulator ( ref< const robot::ManipulatorDescription > manipulatorDescription,

ref< physics::SolidSystem > solidSystem,

bool dynamic = true

)

robot::sim::SimulatedSerialManipulator::SimulatedSerialManipulator ( const SimulatedSerialManipulator & sm ) [inline, protected]

Definition at line 149 of file SimulatedSerialManipulator.
References Unimplemented.

Member Function Documentation

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

Implements robot::sim::SimulatedKinematicChain.

bool robot::sim::SimulatedSerialManipulator::checkProximity ( ref< SimulatedTool > tool )

test if tool is in position to be grasped by the end-effector.

virtual String robot::sim::SimulatedSerialManipulator::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Implements base::Object.
Definition at line 60 of file SimulatedSerialManipulator.

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

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

TransformInfo robot::sim::SimulatedSerialManipulator::computeLinkTransforms ( const Transform & mountTransform,

const base::Vector & q

) const [protected]

compute transform information for chain

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

const base::Orient & initialOrientation

) [protected, virtual]

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

Implements robot::sim::SimulatedKinematicChain.

virtual ref<physics::Collidable> robot::sim::SimulatedSerialManipulator::createCollidable ( CollidableFlags flags = 0 ) [virtual]

Implements physics::CollidableProvider.

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

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

Implements robot::sim::SimulatedKinematicChain.

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

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

) [protected, virtual]

Implements robot::sim::SimulatedKinematicChain.

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 robot::sim::SimulatedSerialManipulator::externalize ( base::Externalizer & e,

const String format = "",

Real version = 1.0

) const [inline, virtual]

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

Reimplemented from base::Externalizable.
Definition at line 145 of file SimulatedSerialManipulator.

virtual void robot::sim::SimulatedSerialManipulator::externalize ( base::Externalizer & e,

const String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool robot::sim::SimulatedSerialManipulator::formatSupported ( const String format,

Real version = 1.0,

ExternalizationType type = IO

) const [virtual]

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

Implements base::Externalizable.

ref<physics::Solid> robot::sim::SimulatedSerialManipulator::getBaseSolid ( ) const [inline]

< get the Solid for the base link

Definition at line 69 of file SimulatedSerialManipulator.
References baseSolid.

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

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

Implements robot::sim::SimulatedKinematicChain.

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

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

Implements robot::sim::SimulatedKinematicChain.

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

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

Implements robot::sim::SimulatedKinematicChain.

virtual base::Transform robot::sim::SimulatedSerialManipulator::getConfiguration ( ) const [virtual]

Reimplemented from physics::PositionableOrientable.

base::Orient robot::sim::SimulatedSerialManipulator::getEEOrientation ( ) const

end-effector orientation in WorldFrame

base::Point3 robot::sim::SimulatedSerialManipulator::getEEPosition ( ) const

end-effector position in WorldFrame

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

Get the current theta* angle (revolute) or position d (prismatic) of the joint.
*NB: the angle is relative to the theta home position.
Implements robot::sim::SimulatedKinematicChain.

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

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

Implements robot::sim::SimulatedKinematicChain.

ref<const SimulatedManipulatorDescription> robot::sim::SimulatedSerialManipulator::getManipulatorDescription ( ) const [inline]

Definition at line 67 of file SimulatedSerialManipulator.
References manipulatorDescr.

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 robot::sim::SimulatedSerialManipulator::getOrientation ( ) const [virtual]

Implements physics::Orientable.

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

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

virtual Point3 robot::sim::SimulatedSerialManipulator::getPosition ( ) const [virtual]

Implements physics::Positionable.

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.

ref<SimulatedTool> robot::sim::SimulatedSerialManipulator::getToolInProximity ( ) const [inline]

get the last tool passed to checkProximity() that was in proximity to the end-effector (or 0)

Definition at line 105 of file SimulatedSerialManipulator.
References proximityTool.

bool robot::sim::SimulatedSerialManipulator::graspTool ( )

grasp tool (if a suitable one is within grasping proximity of the end-effector) returns true if a tool was grasped

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

called from ProximityCollisionResponseHandler::handleCollision()

Implements robot::sim::SimulatedKinematicChain.

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.

bool robot::sim::SimulatedSerialManipulator::isToolGrasped ( ) const [inline]

returns true if a tool is currently being grasped

Definition at line 108 of file SimulatedSerialManipulator.
References toolGrasped.

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::SimulatedSerialManipulator::positionLinks ( const TransformInfo & transformInfo ) [protected, virtual]

position the links

Implements robot::sim::SimulatedKinematicChain.

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 robot::sim::SimulatedSerialManipulator::releaseGrasp ( )

release grasp

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

const String & format = "",

Real version = 1.0

) [inherited]

virtual void robot::sim::SimulatedSerialManipulator::setConfiguration ( const base::Transform & configuration ) [virtual]

Reimplemented from physics::PositionableOrientable.

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

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 62 of file SimulatedSerialManipulator.

void robot::sim::SimulatedSerialManipulator::setJointForce ( Int j,

Real f

) [virtual]

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

Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedSerialManipulator::setJointPos ( Int j,

Real p

) [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.
Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedSerialManipulator::setJointVel ( Int j,

Real v,

Real maxForce = 10.0

) [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
Implements robot::sim::SimulatedKinematicChain.

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 robot::sim::SimulatedSerialManipulator::setOrientation ( const Orient & orient ) [virtual]

Implements physics::Orientable.

virtual void robot::sim::SimulatedSerialManipulator::setPosition ( const Point3 & pos ) [virtual]

Implements physics::Positionable.

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::SimulatedSerialManipulator::setSolidSystem ( ref< physics::SolidSystem > solidSystem ) [inline, virtual]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 64 of file SimulatedSerialManipulator.

void robot::sim::SimulatedSerialManipulator::setToolInProximity ( ref< SimulatedTool > tool ) [inline, protected]

Definition at line 178 of file SimulatedSerialManipulator.
References proximityTool.

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 base::Serializable::SerializableDerivedInstantiator< SimulatedSerialManipulator > [friend]

Definition at line 202 of file SimulatedSerialManipulator.

friend class ProximityCollisionResponseHandler [friend]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 201 of file SimulatedSerialManipulator.

friend class SimulatedRobot [friend]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 200 of file SimulatedSerialManipulator.

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().

ref<physics::Solid> robot::sim::SimulatedSerialManipulator::baseSolid [protected]

Solid for the base link.

Definition at line 187 of file SimulatedSerialManipulator.
Referenced by getBaseSolid().

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

Definition at line 109 of file SimulatedKinematicChain.

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

collidables for each link Solid

Definition at line 150 of file SimulatedKinematicChain.

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

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

Definition at line 113 of file SimulatedKinematicChain.

Transform robot::sim::SimulatedSerialManipulator::eeToEESolid [protected]

transform from ee frame to ee Solid frame

Definition at line 185 of file SimulatedSerialManipulator.

ref<physics::Solid> robot::sim::SimulatedSerialManipulator::endSolid [protected]

Solid for the end link.

Definition at line 188 of file SimulatedSerialManipulator.

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

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

Definition at line 148 of file SimulatedKinematicChain.

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

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

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 190 of file SimulatedSerialManipulator.

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

Length of each link corresponding with links[].

Definition at line 149 of file SimulatedKinematicChain.

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

Definition at line 191 of file SimulatedKinematicChain.

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

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, inherited]

Solids for each link.

Definition at line 147 of file SimulatedKinematicChain.

ref<const SimulatedManipulatorDescription> robot::sim::SimulatedSerialManipulator::manipulatorDescr [protected]

Definition at line 151 of file SimulatedSerialManipulator.
Referenced by getManipulatorDescription().

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

Definition at line 94 of file SimulatedKinematicChain.

Transform robot::sim::SimulatedSerialManipulator::mountConfiguration [mutable, protected]

the mount configuration of the manipulator (WorldFrame)

Definition at line 183 of file SimulatedSerialManipulator.

Transform robot::sim::SimulatedSerialManipulator::mountToBaseSolid [protected]

transform from mount frame to base Solid frame

Definition at line 184 of file SimulatedSerialManipulator.

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().

Real robot::sim::SimulatedSerialManipulator::proximityAngle [protected]

anglular distance components between ee and tool below which is considered within grasping range

Definition at line 194 of file SimulatedSerialManipulator.

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

Definition at line 179 of file SimulatedKinematicChain.

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

collidables for each link's proximity sensor

Definition at line 151 of file SimulatedKinematicChain.

Real robot::sim::SimulatedSerialManipulator::proximityDistance [protected]

distance between ee and tool below which is considered within grasping proximity

Definition at line 193 of file SimulatedSerialManipulator.

ref<SimulatedTool> robot::sim::SimulatedSerialManipulator::proximityTool [protected]

last tool found to be in proximity of the end-effector (by checkProximity())

Definition at line 196 of file SimulatedSerialManipulator.
Referenced by getToolInProximity(), and setToolInProximity().

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

current joint parameters (static simulation only)

Definition at line 153 of file SimulatedKinematicChain.