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ArticulatedLimb Class Reference

#include <ArticulatedLimb.h>

List of all members.

Public Member Functions

Public Attributes


Constructor & Destructor Documentation

ArticulatedLimb::ArticulatedLimb real  l,
real  theta
 

Constructor, sets l and theta.

Definition at line 12 of file ArticulatedLimb.cpp.

ArticulatedLimb::~ArticulatedLimb  )  [virtual]
 

Destructor, deletes the links.

Definition at line 18 of file ArticulatedLimb.cpp.


Member Function Documentation

ArticulatedLink * ArticulatedLimb::addLink  ) 
 

Definition at line 22 of file ArticulatedLimb.cpp.

References label, and links.

Referenced by addOneObjectLink().

ArticulatedLink * ArticulatedLimb::addOneObjectLink real  l,
real  theta0,
PhysicalObject object,
real  x,
real  y,
real  alpha,
ArticulatedLink parent = NULL,
bool  hasElasticTorque = true
 

Adds a link composed of one object. The link will be articulated around a point situated at distance l on the parent link.

Definition at line 31 of file ArticulatedLimb.cpp.

References addLink(), ComposedPhysicalObject::addObject(), ArticulatedComponent::computeIStar0(), ArticulatedLink::computeSinCos(), ArticulatedLink::hasElasticTorque, ArticulatedLink::l, ArticulatedLink::setParentLink(), ArticulatedLink::theta, and ArticulatedLink::theta0.

Referenced by Iunctus::build().

void ArticulatedLimb::computeSinCos  ) 
 

Updates the values of sin, cos, sin2, cos2, sinCos as a function of theta

Definition at line 48 of file ArticulatedLimb.cpp.

References cos2, cosTheta, sin2, sinCos, sinTheta, and theta.

Referenced by setProperties().

void ArticulatedLimb::deleteLinks  ) 
 

Deletes the links list and the member links.

Definition at line 62 of file ArticulatedLimb.cpp.

References links, and purgeContainer().

void ArticulatedLimb::draw GUI gui  )  [virtual]
 

Definition at line 66 of file ArticulatedLimb.cpp.

References ArticulatedLink::draw(), and links.

void ArticulatedLimb::setFillColor Color  color  )  [virtual]
 

Definition at line 83 of file ArticulatedLimb.cpp.

References links, and ComposedPhysicalObject::setFillColor().

void ArticulatedLimb::setOutlineColor Color  color  )  [virtual]
 

Definition at line 76 of file ArticulatedLimb.cpp.

References links, and ComposedPhysicalObject::setOutlineColor().

void ArticulatedLimb::setProperties real  l,
real  theta
 

Sets l, theta, calls computeSinCos().

Definition at line 56 of file ArticulatedLimb.cpp.

References computeSinCos().

Referenced by ArticulatedAgentBase::addLimb().


Member Data Documentation

real ArticulatedLimb::cos2
 

Functions of theta

Definition at line 46 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeSinCos().

real ArticulatedLimb::cosTheta
 

Functions of theta

Definition at line 46 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeSinCos().

real ArticulatedLimb::l
 

Definition at line 42 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), ArticulatedAgentQuasistatic::forwardAccelerations(), and ArticulatedAgentQuasistatic::forwardKinematics().

std::string ArticulatedLimb::label
 

Definition at line 39 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentBase::addLimb(), and addLink().

ArticulatedLinkPVector ArticulatedLimb::links
 

A list containing the links that compose the limb. The list owns the links.

Definition at line 50 of file ArticulatedLimb.h.

Referenced by addLink(), ArticulatedAgentQuasistatic::backwardDynamics(), ArticulatedAgentQuasistatic::computeDerivatives(), ArticulatedAgentQuasistatic::computeForces(), ArticulatedAgentQuasistatic::computeTotalForces(), Iunctus::controll(), ArticulatedAgentBase::deleteContacts(), deleteLinks(), ArticulatedAgentBase::detectContacts(), ArticulatedAgentBase::detectInternalContacts(), ArticulatedAgentBase::detectMouseContact(), draw(), ArticulatedAgentQuasistatic::forwardAccelerations(), ArticulatedAgentQuasistatic::forwardKinematics(), ArticulatedAgentQuasistatic::integrate(), Iunctus::proprioception(), ArticulatedAgentBase::registerPrimitives(), ArticulatedAgentQuasistatic::rollback(), setFillColor(), and setOutlineColor().

real ArticulatedLimb::sin2
 

Functions of theta

Definition at line 46 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeSinCos().

real ArticulatedLimb::sinCos
 

Functions of theta

Definition at line 46 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeSinCos().

real ArticulatedLimb::sinTheta
 

Functions of theta

Definition at line 46 of file ArticulatedLimb.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeSinCos().

real ArticulatedLimb::theta
 

Definition at line 43 of file ArticulatedLimb.h.

Referenced by computeSinCos(), ArticulatedAgentQuasistatic::forwardAccelerations(), and ArticulatedAgentQuasistatic::forwardKinematics().


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

Thyrix homepageUsers' guide

(C) Arxia 2004-2005