R_OpenChain Class Reference

#include <basic/robots/R_OpenChain.h>

Inherits RobotBase.

Inheritance diagram for R_OpenChain:

[legend]Collaboration diagram for R_OpenChain:

[legend]List of all members.

Public Member Functions
	R_OpenChain (const R_OpenChain &right)
	R_OpenChain (FrameManager *frameManager)
virtual	~R_OpenChain ()
void	AppendLink (const LinkBase *link)
virtual unsigned int	DOF () const
virtual Entity *	Clone () const
virtual std::list< LinkBase * >	GetAllLinks () const
virtual std::list< int >	GetAllToolFrames () const
virtual LinkBase *	GetLink (const unsigned int i)
void	AddToolFrame (const Frame &frame, const int baseFrameNum)
virtual bool	CanCheckInterference (const Entity *entity) const
virtual bool	IsInterfering (const Entity *entity) const
virtual bool	Deserialize (IfstreamWithComments &is)
int	GetToolFrame (int index)
Protected Attributes
std::vector< int >	m_ToolFrames
std::vector< int >	m_ToolFrameBases
std::vector< LinkBase * >	links

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Detailed Description

Definition at line 11 of file R_OpenChain.h.

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Constructor & Destructor Documentation

R_OpenChain::R_OpenChain (  const R_OpenChain &  right  )

Definition at line 12 of file R_OpenChain.cpp. References links.

R_OpenChain::R_OpenChain (  FrameManager *  frameManager  )

Definition at line 31 of file R_OpenChain.cpp.

R_OpenChain::~R_OpenChain (   )  [virtual]

Definition at line 40 of file R_OpenChain.cpp. References links.

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Member Function Documentation

void R_OpenChain::AddToolFrame (  const Frame &  frame, const int  baseFrameNum )

Definition at line 54 of file R_OpenChain.cpp. References FrameManager::AddFrame(), Entity::frameManager, FrameManager::GetFrameRef(), m_ToolFrameBases, m_ToolFrames, and Matrix4x4::SetValues(). Here is the call graph for this function:

void R_OpenChain::AppendLink (  const LinkBase *  link  )

Definition at line 84 of file R_OpenChain.cpp. References LinkBase::BaseFrameNum(), LinkBase::Clone(), IJG_Assert, and links. Here is the call graph for this function:

bool R_OpenChain::CanCheckInterference (  const Entity *  entity  )  const [virtual]

Implements Entity. Definition at line 155 of file R_OpenChain.cpp.

Entity * R_OpenChain::Clone (   )  const [virtual]

Implements RobotBase. Definition at line 106 of file R_OpenChain.cpp.

bool R_OpenChain::Deserialize (  IfstreamWithComments &  is  )  [virtual]

Reimplemented from RobotBase. Definition at line 173 of file R_OpenChain.cpp. References RobotBase::Deserialize(), LinkBase::DeSerializeAbstract(), IfstreamWithComments::eatwhite(), IJG_Assert, and links. Here is the call graph for this function:

unsigned int R_OpenChain::DOF (   )  const [virtual]

Implements RobotBase. Definition at line 99 of file R_OpenChain.cpp. References links. Referenced by PL_ATACE::SetCollisionDetector().

std::list< LinkBase * > R_OpenChain::GetAllLinks (   )  const [virtual]

Implements RobotBase. Definition at line 115 of file R_OpenChain.cpp. References links. Referenced by CRedundant::SetCollisionDetector(), and CJoints::SetRobot().

std::list< int > R_OpenChain::GetAllToolFrames (   )  const [virtual]

Implements RobotBase. Definition at line 130 of file R_OpenChain.cpp. References m_ToolFrames.

LinkBase * R_OpenChain::GetLink (  const unsigned int  i  )  [virtual]

Implements RobotBase. Definition at line 147 of file R_OpenChain.cpp. References links. Referenced by PL_ATACE::SetCollisionDetector().

int R_OpenChain::GetToolFrame (  int  index  )

Definition at line 71 of file R_OpenChain.cpp. References m_ToolFrames. Referenced by CRedundant::GetDesireFrameByConfiguration(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), PL_ATACE::SetCollisionDetector(), and CPassive::SetRobot().

bool R_OpenChain::IsInterfering (  const Entity *  entity  )  const [virtual]

Implements Entity. Definition at line 163 of file R_OpenChain.cpp.

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Member Data Documentation

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

Definition at line 56 of file R_OpenChain.h. Referenced by AppendLink(), Deserialize(), DOF(), GetAllLinks(), GetLink(), R_OpenChain(), and ~R_OpenChain().

std::vector< int > R_OpenChain::m_ToolFrameBases [protected]

Definition at line 55 of file R_OpenChain.h. Referenced by AddToolFrame().

std::vector< int > R_OpenChain::m_ToolFrames [protected]

Definition at line 54 of file R_OpenChain.h. Referenced by AddToolFrame(), GetAllToolFrames(), and GetToolFrame().

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

• basic/robots/R_OpenChain.h
• basic/robots/R_OpenChain.cpp

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