CJoints Class Reference

#include <planners/inversekin/Joints.h>

Inherited by CActive, and CPassive.

Inheritance diagram for CJoints:

[legend]Collaboration diagram for CJoints:

[legend]List of all members.

Public Member Functions
	CJoints ()
	CJoints (FrameManager *frameManager)
virtual	~CJoints ()
virtual void	SetRobot (R_OpenChain *robot)
virtual void	SetFrameManager (FrameManager *frameManager)
virtual void	SetBaseFrame (unsigned int frame)
virtual void	SetFirstJoint (unsigned int joint)
virtual void	SetLastJoint (unsigned int joint)
virtual bool	GetConfiguration (Configuration &conf)=0
virtual bool	GetConfiguration (Configuration &conf, Configuration &current, double dist)=0
Public Attributes
unsigned int	jointNum
Protected Member Functions
virtual double	Distance (LinkBase *link, double q1, double q2)
Protected Attributes
R_OpenChain *	robot
std::vector< LinkBase * >	links
FrameManager *	frameManager
unsigned int	baseFrame
unsigned int	firstJoint
unsigned int	lastJoint

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Detailed Description

Definition at line 15 of file Joints.h.

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Constructor & Destructor Documentation

CJoints::CJoints (   )

Definition at line 34 of file Joints.cpp. References baseFrame, firstJoint, jointNum, and lastJoint.

CJoints::CJoints (  FrameManager *  frameManager  )

Definition at line 39 of file Joints.cpp. References baseFrame, firstJoint, jointNum, and lastJoint.

CJoints::~CJoints (   )  [virtual]

Definition at line 45 of file Joints.cpp.

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Member Function Documentation

double CJoints::Distance (  LinkBase *  link, double  q1, double  q2 )  [protected, virtual]

Definition at line 62 of file Joints.cpp. References LinkBase::JointMax(), LinkBase::JointMin(), LinkBase::JointWraps(), and Min(). Referenced by CPassive::GetConfiguration(). Here is the call graph for this function:

virtual bool CJoints::GetConfiguration (  Configuration &  conf, Configuration &  current, double  dist )  [pure virtual]

Implemented in CActive, and CPassive.

virtual bool CJoints::GetConfiguration (  Configuration &  conf  )  [pure virtual]

Implemented in CActive, and CPassive.

void CJoints::SetBaseFrame (  unsigned int  frame  )  [virtual]

Definition at line 112 of file Joints.cpp. References baseFrame. Referenced by CRedundant::SetActiveBaseFrame(), and CRedundant::SetPassiveBaseFrame().

void CJoints::SetFirstJoint (  unsigned int  joint  )  [virtual]

Definition at line 122 of file Joints.cpp. References firstJoint. Referenced by CRedundant::SetActiveFirstJoint(), and CRedundant::SetPassiveFirstJoint().

void CJoints::SetFrameManager (  FrameManager *  frameManager  )  [virtual]

Definition at line 102 of file Joints.cpp. References frameManager. Referenced by CRedundant::SetFrameManager().

void CJoints::SetLastJoint (  unsigned int  joint  )  [virtual]

Reimplemented in CPassive. Definition at line 132 of file Joints.cpp. References firstJoint, jointNum, and lastJoint. Referenced by CRedundant::SetActiveLastJoint(), and CPassive::SetLastJoint().

void CJoints::SetRobot (  R_OpenChain *  robot  )  [virtual]

Reimplemented in CPassive. Definition at line 86 of file Joints.cpp. References R_OpenChain::GetAllLinks(), links, and robot. Referenced by CRedundant::SetCollisionDetector(), and CPassive::SetRobot(). Here is the call graph for this function:

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Member Data Documentation

unsigned int CJoints::baseFrame [protected]

Definition at line 41 of file Joints.h. Referenced by CJoints(), and SetBaseFrame().

unsigned int CJoints::firstJoint [protected]

Definition at line 42 of file Joints.h. Referenced by CJoints(), CPassive::GetConfiguration(), CActive::GetConfiguration(), CPassive::GetRandomConfiguration(), CPassive::Inverse(), CPassive::ResolveJoints(), SetFirstJoint(), and SetLastJoint().

FrameManager* CJoints::frameManager [protected]

Definition at line 40 of file Joints.h. Referenced by SetFrameManager(), and CPassive::SetRobot().

unsigned int CJoints::jointNum

Definition at line 34 of file Joints.h. Referenced by CJoints(), CPassive::GetConfiguration(), CActive::GetConfiguration(), CPassive::GetRandomConfiguration(), CPassive::Inverse(), CRedundant::SetActiveLastJoint(), CPassive::SetLastJoint(), SetLastJoint(), and CRedundant::SetPassiveLastJoint().

unsigned int CJoints::lastJoint [protected]

Definition at line 43 of file Joints.h. Referenced by CJoints(), CActive::GetConfiguration(), and SetLastJoint().

std::vector< LinkBase*> CJoints::links [protected]

Definition at line 38 of file Joints.h. Referenced by CPassive::GetConfiguration(), CActive::GetConfiguration(), CPassive::GetRandomConfiguration(), CPassive::Inverse(), CPassive::ResolveJoints(), and SetRobot().

R_OpenChain* CJoints::robot [protected]

Definition at line 37 of file Joints.h. Referenced by CPassive::SetRobot(), and SetRobot().

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

• planners/inversekin/Joints.h
• planners/inversekin/Joints.cpp

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