ArticulatedLimb Class Reference

#include <ArticulatedLimb.h>

List of all members.

Public Member Functions

• ArticulatedLimb (real l, real theta)
• virtual ~ArticulatedLimb ()
• void computeSinCos ()
• void setProperties (real l, real theta)
• ArticulatedLink * addLink ()
• ArticulatedLink * addOneObjectLink (real l, real theta0, PhysicalObject *object, real x, real y, real alpha, ArticulatedLink *parent=NULL, bool hasElasticTorque=true)
• virtual void draw (GUI *gui)
• virtual void setOutlineColor (Color color)
• virtual void setFillColor (Color color)
• void deleteLinks ()

Public Attributes

• std::string label
• real l
• real theta
• real sinTheta
• real cosTheta
• real sin2
• real cos2
• real sinCos
• ArticulatedLinkPVector links

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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.

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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().

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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().

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

• ArticulatedLimb.h
• ArticulatedLimb.cpp

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