LinkBase Class Reference

#include <basic/kinematics/LinkBase.h>

Inherits NamedElement.

Inherited by DH_Link, and OtherLinkType.

Inheritance diagram for LinkBase:

[legend]Collaboration diagram for LinkBase:

[legend]List of all members.

Public Member Functions
virtual	~LinkBase ()
virtual void	UpdateFrames () const =0
void	SetBaseFrame (const unsigned int frame)
unsigned int	BaseFrameNum () const
virtual LinkBase *	Clone () const =0
void	SetFrameManager (FrameManager *frameManager)
virtual void	SetJointVariable (const double newValue)=0
double	JointMax () const
double	JointMin () const
bool	JointWraps () const
void	SetJointMax (const double jointMax)
void	SetJointMin (const double jointMin)
void	SetJointLimits (const double limit1, const double limit2)
virtual bool	DoesLinkControlFrame (const unsigned int frameNum) const =0
virtual void	Serialize (ostream &os) const
void	SetPositioningFrame (const Matrix4x4 &positioningFrame)
virtual bool	DeSerialize (IfstreamWithComments &is)
Static Public Member Functions
static LinkBase *	DeSerializeAbstract (IfstreamWithComments &is, FrameManager *frameManager)
Public Attributes
std::set< unsigned int >	directlyDependantObjects
std::set< unsigned int >	indirectlyDependantObjects
std::vector< ObjectBase * >	objects
std::vector< unsigned int >	controlledFrames
Protected Member Functions
	LinkBase (FrameManager *frameManager)
	LinkBase (const LinkBase &right)
Protected Attributes
unsigned int	baseFrame
double	jointMax
double	jointMin
bool	jointWraps
Matrix4x4	positioningFrame
FrameManager *	frameManager

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Detailed Description

Definition at line 21 of file LinkBase.h.

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Constructor & Destructor Documentation

LinkBase::~LinkBase (   )  [virtual]

Definition at line 51 of file LinkBase.cpp. References objects.

LinkBase::LinkBase (  FrameManager *  frameManager  )  [protected]

Definition at line 12 of file LinkBase.cpp.

LinkBase::LinkBase (  const LinkBase &  right  )  [protected]

Definition at line 23 of file LinkBase.cpp. References controlledFrames.

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Member Function Documentation

unsigned int LinkBase::BaseFrameNum (   )  const

Definition at line 73 of file LinkBase.cpp. References baseFrame. Referenced by R_OpenChain::AppendLink().

virtual LinkBase* LinkBase::Clone (   )  const [pure virtual]

Implemented in DH_Link. Referenced by Universe::AddLink(), and R_OpenChain::AppendLink().

bool LinkBase::DeSerialize (  IfstreamWithComments &  is  )  [virtual]

Reimplemented in DH_Link. Definition at line 192 of file LinkBase.cpp. References baseFrame, eatwhite(), IfstreamWithComments::eatwhite(), IfstreamWithComments::getline(), jointMax, jointMin, and jointWraps. Referenced by DH_Link::DeSerialize(), and DeSerializeAbstract(). Here is the call graph for this function:

LinkBase * LinkBase::DeSerializeAbstract (  IfstreamWithComments &  is, FrameManager *  frameManager )  [static]

Definition at line 147 of file LinkBase.cpp. References DeSerialize(), IfstreamWithComments::eatwhite(), frameManager, and IfstreamWithComments::getline(). Referenced by R_OpenChain::Deserialize(). Here is the call graph for this function:

virtual bool LinkBase::DoesLinkControlFrame (  const unsigned int  frameNum  )  const [pure virtual]

Implemented in DH_Link.

double LinkBase::JointMax (   )  const

Definition at line 88 of file LinkBase.cpp. References jointMax. Referenced by CJoints::Distance(), and Universe::JointMax().

double LinkBase::JointMin (   )  const

Definition at line 95 of file LinkBase.cpp. References jointMin. Referenced by CJoints::Distance().

bool LinkBase::JointWraps (   )  const

Definition at line 102 of file LinkBase.cpp. References jointWraps. Referenced by CJoints::Distance().

void LinkBase::Serialize (  ostream &  os  )  const [virtual]

Reimplemented in DH_Link. Definition at line 131 of file LinkBase.cpp. References baseFrame, jointMax, jointMin, and jointWraps.

void LinkBase::SetBaseFrame (  const unsigned int  frame  )

Definition at line 66 of file LinkBase.cpp. References baseFrame.

void LinkBase::SetFrameManager (  FrameManager *  frameManager  )

Definition at line 80 of file LinkBase.cpp. References FrameManager::AddFrame(), and frameManager. Here is the call graph for this function:

void LinkBase::SetJointLimits (  const double  limit1, const double  limit2 )

Definition at line 123 of file LinkBase.cpp. References Max(), Min(), SetJointMax(), and SetJointMin(). Here is the call graph for this function:

void LinkBase::SetJointMax (  const double  jointMax  )

Definition at line 109 of file LinkBase.cpp. Referenced by SetJointLimits().

void LinkBase::SetJointMin (  const double  jointMin  )

Definition at line 116 of file LinkBase.cpp. Referenced by SetJointLimits().

virtual void LinkBase::SetJointVariable (  const double  newValue  )  [pure virtual]

Implemented in DH_Link.

void LinkBase::SetPositioningFrame (  const Matrix4x4 &  positioningFrame  )

Definition at line 185 of file LinkBase.cpp. References positioningFrame, and Matrix4x4::SetValues(). Here is the call graph for this function:

virtual void LinkBase::UpdateFrames (   )  const [pure virtual]

Implemented in DH_Link.

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Member Data Documentation

unsigned int LinkBase::baseFrame [protected]

Definition at line 110 of file LinkBase.h. Referenced by BaseFrameNum(), DeSerialize(), Serialize(), and SetBaseFrame().

std::vector< unsigned int > LinkBase::controlledFrames

Definition at line 95 of file LinkBase.h. Referenced by DH_Link::DH_Link(), and LinkBase().

std::set< unsigned int> LinkBase::directlyDependantObjects

Definition at line 80 of file LinkBase.h.

FrameManager* LinkBase::frameManager [protected]

Definition at line 138 of file LinkBase.h. Referenced by DeSerializeAbstract(), DH_Link::DH_Link(), SetFrameManager(), and DH_Link::UpdateFrames().

std::set< unsigned int > LinkBase::indirectlyDependantObjects

Definition at line 85 of file LinkBase.h.

double LinkBase::jointMax [protected]

Definition at line 115 of file LinkBase.h. Referenced by DeSerialize(), JointMax(), and Serialize().

double LinkBase::jointMin [protected]

Definition at line 120 of file LinkBase.h. Referenced by DeSerialize(), JointMin(), and Serialize().

bool LinkBase::jointWraps [protected]

Definition at line 125 of file LinkBase.h. Referenced by DeSerialize(), JointWraps(), and Serialize().

std::vector< ObjectBase* > LinkBase::objects

Definition at line 90 of file LinkBase.h. Referenced by Universe::AddLink(), DH_Link::AddObject(), and ~LinkBase().

Matrix4x4 LinkBase::positioningFrame [protected]

Definition at line 130 of file LinkBase.h. Referenced by SetPositioningFrame().

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

• basic/kinematics/LinkBase.h
• basic/kinematics/LinkBase.cpp

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