basic/kinematics/DH_Link.h

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//## begin module%3707C4FC037A.cm preserve=no
//        %X% %Q% %Z% %W%
//## end module%3707C4FC037A.cm

//## begin module%3707C4FC037A.cp preserve=no
//## end module%3707C4FC037A.cp

//## Module: DH_Link%3707C4FC037A; Pseudo Package specification
//## Source file: E:\mpk\code\Kinematics\DH_Link.h

#ifndef DH_Link_h
#define DH_Link_h 1

//## begin module%3707C4FC037A.additionalIncludes preserve=no
//## end module%3707C4FC037A.additionalIncludes

//## begin module%3707C4FC037A.includes preserve=yes
//## end module%3707C4FC037A.includes

// LinkBase
#include "Kinematics\LinkBase.h"

class VRML_Reader;
class Frame;
//class ObjectBase;
#include "geometry\objectbase.h"
class VRML_20_Reader;
class IfstreamWithComments;

//## begin module%3707C4FC037A.additionalDeclarations preserve=yes

enum DH_Parameter
{
        DH_NONE = -1,
        DH_A,
        DH_ALPHA,
        DH_D,
        DH_THETA
};
//## end module%3707C4FC037A.additionalDeclarations


//## begin DH_Link%3707C4FC037A.preface preserve=yes
//## end DH_Link%3707C4FC037A.preface

//## Class: DH_Link%3707C4FC037A
//## Category: Kinematics%3707C4D300C8
//## Persistence: Transient
//## Cardinality/Multiplicity: n

//## Uses: <unnamed>%3724D29F0230;Frame { -> F}
//## Uses: <unnamed>%3798E16101B3;ObjectBase { -> F}
//## Uses: <unnamed>%37BC4E200004;IfstreamWithComments { -> F}
//## Uses: <unnamed>%37BC534D013F;VRML_Reader { -> F}
//## Uses: <unnamed>%37CC822D03A4;VRML_20_Reader { -> F}

class DH_Link : public LinkBase  //## Inherits: <unnamed>%3707C5050046
{
  //## begin DH_Link%3707C4FC037A.initialDeclarations preserve=yes
  //## end DH_Link%3707C4FC037A.initialDeclarations

  public:
    //## Constructors (specified)
      //## Operation: DH_Link%924391851
      //        construtor.  Requires a frame manager.
      DH_Link (FrameManager*  frameManager);

      //## Operation: DH_Link%925178921
      //        copy constructor
      DH_Link (const DH_Link& right);

    //## Destructor (generated)
      virtual ~DH_Link();


    //## Other Operations (specified)
      //## Operation: UpdateFrames%924391847
      //        Updates the frame with the most recent values of all the
      //        joint variables.
      virtual void UpdateFrames () const;

      //## Operation: FrameNum%924391852
      //        this function returns the frame number that this link
      //        updates
      unsigned int FrameNum () const;

      //## Operation: Clone%924739818
      //        clones the link given a pointer to it.
      virtual LinkBase* Clone () const;

      //## Operation: SetAlpha%925324839
      //        specify the alpha DH paramter
      void SetAlpha (const double value);

      //## Operation: SetA%925324840
      //        specify the A dh-parameter
      void SetA (const double value);

      //## Operation: SetD%925324841
      //        specify the d dh parameter
      void SetD (const double value);

      //## Operation: SetTheta%925324842
      //        specify the theta dh-parameter
      void SetTheta (const double value);

      //Added by Zhenwang.Yao 2003.01
      __inline double GetA() const {return a;};
      __inline double GetD() const {return d;};
      __inline double GetAlpha() const {return alpha;};
      __inline double GetTheta() const {return theta;};
          //End Added by Zhenwang.Yao


      //## Operation: SetControllingParameter%925420850
      //        specify which of the DH parameters is driven by the
      //        joint variable
      void SetControllingParameter (DH_Parameter parameter);

      //## Operation: SetJointVariable%925420852
      //        alter the paramter controlled by the joint variable
      virtual void SetJointVariable (const double newValue);

      //## Operation: DoesLinkControlFrame%928263349
      //        determines if the link controlls the frame in question
      virtual bool DoesLinkControlFrame (const unsigned int frameNum) const;

      //## Operation: Serialize%933801284
      //        serailzes the link to a stream
      virtual void Serialize (ostream& os) const;

      //## Operation: AddObject%932766018
      //        adds an object to the frame that this link controls
      virtual void AddObject (const ObjectBase* object);

      //## Operation: DeSerialize%933801287
      //        reads the link from a stream
      virtual bool DeSerialize (IfstreamWithComments& is);

      //## Operation: GetJointVariable%940357561
      double GetJointVariable () const;

          //exposes the type of this joint
          DH_Parameter GetJointType() const;

      //## Operation: GetFrame%943395407
      Frame GetFrame () const;

      //Added by Zhenwang.Yao 2003.01
      Frame& DH_Link::GetFrame (Frame &frame);
          //End Added by Zhenwang.Yao 2003.01


    // Additional Public Declarations
      //## begin DH_Link%3707C4FC037A.public preserve=yes
          friend std::ostream & operator<<( std::ostream &os, const DH_Link& v ) ;
          friend std::istream & operator>>( std::istream &is, DH_Link& v ) ;

      //## end DH_Link%3707C4FC037A.public
  protected:
    // Data Members for Class Attributes

      //## Attribute: frame%37191CB001AE
      //## begin DH_Link::frame%37191CB001AE.attr preserve=no  protected: unsigned int {UA} 
      unsigned int frame;
      //## end DH_Link::frame%37191CB001AE.attr

      //## Attribute: alpha%37225EA302C6
      //## begin DH_Link::alpha%37225EA302C6.attr preserve=no  protected: double {UA} 
      double alpha;
      //## end DH_Link::alpha%37225EA302C6.attr

      //## Attribute: a%37225EAC0186
      //## begin DH_Link::a%37225EAC0186.attr preserve=no  protected: double {UA} 
      double a;
      //## end DH_Link::a%37225EAC0186.attr

      //## Attribute: d%37225EB00384
      //## begin DH_Link::d%37225EB00384.attr preserve=no  protected: double {UA} 
      double d;
      //## end DH_Link::d%37225EB00384.attr

      //## Attribute: theta%37225EB70258
      //## begin DH_Link::theta%37225EB70258.attr preserve=no  protected: double {UA} 
      double theta;
      //## end DH_Link::theta%37225EB70258.attr

      //## Attribute: q%37225ED50212
      //## begin DH_Link::q%37225ED50212.attr preserve=no  protected: double* {UA} 
      double* q;
      //## end DH_Link::q%37225ED50212.attr

      //## Attribute: type%37A8AD2D0230
      //## begin DH_Link::type%37A8AD2D0230.attr preserve=no  protected: DH_Parameter {UA} 
      DH_Parameter type;
      //## end DH_Link::type%37A8AD2D0230.attr

    // Additional Protected Declarations
      //## begin DH_Link%3707C4FC037A.protected preserve=yes
      //## end DH_Link%3707C4FC037A.protected

  private:
    // Additional Private Declarations
      //## begin DH_Link%3707C4FC037A.private preserve=yes
      //## end DH_Link%3707C4FC037A.private

  private: //## implementation
    // Additional Implementation Declarations
      //## begin DH_Link%3707C4FC037A.implementation preserve=yes
      //## end DH_Link%3707C4FC037A.implementation

};

//## begin DH_Link%3707C4FC037A.postscript preserve=yes
std::ostream & operator<<( std::ostream &os, const DH_Link& v ) ;
IfstreamWithComments & operator>>( IfstreamWithComments &is, DH_Link& v ) ;
//## end DH_Link%3707C4FC037A.postscript

// Class DH_Link 

//## begin module%3707C4FC037A.epilog preserve=yes
//## end module%3707C4FC037A.epilog


#endif

---