Holds a description of a manipulator link. More...

#include <ecManipulatorLink.h>

Inheritance diagram for EcManipulatorLink:

Collaboration diagram for EcManipulatorLink:

Public Member Functions
	EcManipulatorLink ()
	default constructor

virtual	~EcManipulatorLink ()
	destructor

	EcManipulatorLink (const EcManipulatorLink &orig)
	copy constructor

EcManipulatorLink &	operator= (const EcManipulatorLink &orig)
	assignment operator

EcManipulatorLink &	copyAllButChildLinksFrom (const EcManipulatorLink &orig)
	assignment operator, except the child links

EcBoolean	operator== (const EcManipulatorLink &orig) const
	equality operator

EcBoolean	equalForReferencing (const EcManipulatorLink &orig) const
	equality operator for referencing

virtual EcBoolean	xmlInit () EC_OVERRIDE
	initialize XML components for reading and writing

virtual EcXmlObject *	clone () const EC_OVERRIDE
	clone - a virtual constructor to an EcXmlObject pointer

virtual void	registerComponents () EC_OVERRIDE
	register components with the parent

virtual EcBoolean	equality (const EcXmlObject *other) const EC_OVERRIDE
	equality - virtual equality to an EcXmlObject pointer

virtual EcXmlObject *	newObject () const EC_OVERRIDE
	virtual new that returns an EcXmlObject

virtual const EcString &	linkLabel () const
	gets an identifying label

virtual void	setLinkLabel (const EcString &label)
	sets an identifying label

virtual void	appendToAllLabels (const EcString &appendage)
	appends a string to all labels of all links including child links. More...

virtual EcBoolean	setSurfacesByShapeID (const EcU32 &shapeID, const EcStringDataMapMap &surfaces)
	set shape surface properties by the shape ID.

virtual EcBoolean	setSurfaces (const EcString &linkName, const EcU32 &shapeID, const EcStringDataMapMap &surfaces)

virtual EcBoolean	setShapeSurfaceProperty (const EcString &linkName, const EcU32 &shapeID, const EcString &surfaceProperty)
	set shape surface property string if the name matched,

virtual EcBoolean	setShapeIdentifier (const EcString &linkName, const EcU32 &shapeID, const EcString &identifier)
	set shape identifier string if the name matched,

virtual const EcLinkKinematicsContainer &	linkKinematicsContainer () const
	gets Denavit-Hartenberg parameters

virtual void	setLinkKinematicsContainer (const EcLinkKinematicsContainer &linkKinematicsContainer)
	sets Denavit-Hartenberg parameters

virtual void	setLinkKinematics (const EcLinkKinematics &linkKinematics)
	sets the top element of the link kinematics container

virtual const EcManipulatorLinkVector &	childLinks () const
	gets the child links

virtual EcManipulatorLinkVector &	childLinks ()
	gets the child links – nonconst

virtual void	setChildLinks (const EcManipulatorLinkVector &childLinks)
	sets the child links

virtual void	addChild (const EcManipulatorLink &childLink)
	Adds a child link by copy at the end of the child links vector. More...

virtual void	clearChildLinks ()
	clear the child links vector

virtual void	addLinkToEndOfChain (const EcManipulatorLink &link)
	Adds a link by copy to the end of the first chain rooted at this link. More...

virtual EcBoolean	addLinkToChildLinkByName (const EcManipulatorLink &link, const EcString &parent)
	Adds a link by copy to the link with the given label. More...

virtual const EcBasePhysicalExtent *	physicalExtent () const
	gets the physical extent

virtual const EcCapsule &	capsuleBoundingVolume () const
	gets the capsule bounding volume

virtual const EcShapeContainer &	shapeContainer () const
	get the shape container (this may or may not be referenced)

virtual const EcShapeContainer &	memberShapeContainer () const
	get the member-variable shape container

virtual void	setShapeContainer (const EcShapeContainer &shapeContainer)
	set the shape container

virtual void	setShape (const EcShape &shape)
	sets the shape

virtual void	setFromShape (const EcShape &shape, const EcReal mass=1.5)
	set all properties from a shape

virtual void	setFromShapeContainer (const EcShapeContainer &shapeContainer)
	set all properties from a shape container

virtual const EcCoordinateSystemTransformation &	primaryFrame () const
	gets the primary frame in local coordinates

virtual void	setPrimaryFrame (const EcCoordinateSystemTransformation &primaryFrame)
	sets the primary frame More...

virtual const EcJointActuator &	jointActuator () const
	gets the joint actuator

virtual void	setJointActuator (const EcJointActuator &jointActuator)
	sets the joint actuator

virtual void	truncateValues (const EcReal &precision=1e-10)
	truncate values in the physical extents to the precision specified.

virtual const EcRigidBodyMassProperties &	massProperties (const EcStatedSystemStruct *statedSystemStruct=0) const
	gets mass properties expressed in primary frame. This is the base mass properties combined with the mass properties in the map, which is the total mass properties of this link. More...

virtual void	setMassProperties (const EcRigidBodyMassProperties &massProperties)

virtual const EcRigidBodyMassProperties &	baseMassProperties () const
	gets the base mass properties expressed in primary frame

virtual void	setBaseMassProperties (const EcRigidBodyMassProperties &massProperties)
	sets the base mass properties expressed in primary frame

virtual const EcRigidBodyMassPropertiesMap &	massPropertiesMap () const
	gets the map of mass properties. The map contains mass properties in addition to the base mass properties.

virtual void	setMassPropertiesMap (const EcRigidBodyMassPropertiesMap &massPropMap)
	sets the map of mass properties

virtual void	clearMassPropertiesMap ()
	clear all the mass properties in the map

virtual void	addMassProperties (const EcString &identifier, const EcRigidBodyMassProperties &massProperties)
	add mass properties expressed in primary frame and identified by identifier. This will change the total mass properties of the link.

virtual EcBoolean	deleteMassProperties (const EcString &identifier)

virtual const EcSpringProperties &	springProperties () const
	get functions for String properties

virtual void	setSpringProperties (const EcSpringProperties &springProperties)
	set functions for String properties

virtual const EcDamperProperties &	damperProperties () const
	get functions for damper properties

virtual void	setDamperProperties (const EcDamperProperties &damperProperties)
	set functions for damper properties

virtual const EcLinkReferenceDescription &	linkReferenceDescription () const
	get the link reference description

virtual void	setLinkReferenceDescription (const EcLinkReferenceDescription &linkReferenceDescription)
	set the link reference description

virtual const EcManipulatorLink *	referenceLink () const
	gets reference link

virtual void	setReferenceLink (const EcManipulatorLink *pLink)
	sets reference link

virtual const EcManipulatorLink *	concreteReference () const
	gets the concrete link

virtual EcReal	totalLocalTorque (EcManipulatorActiveState &activeState) const
	calculate total joint torque from spring + damper

virtual const EcRigidBodyMassProperties &	massPropertiesInDHFrame (const EcStatedSystemStruct *statedSystemStruct=0) const
	gets the mass properties expressed in the D-H frame More...

virtual void	transformComponentsBy (const EcCoordinateSystemTransformation xform)

virtual const EcManipulatorLink *	parentLink () const
	gets parentLink

virtual void	setParentLink (EcManipulatorLink *parentLink)
	sets parentLink

virtual EcU32	linkIndex () const
	gets the link index

virtual void	setLinkIndex (const EcU32 index)
	sets the link index

virtual EcU32	subtreeLinkCount () const
	subtree Link count (count includes this link) More...

virtual EcReal	lookupCollisionAvoidanceMetric () const
	get the collision avoidance metric for this link

virtual EcBoolean	mapLinks (EcManipulatorLinkConstPointerVector &linkVector, EcManipulatorLinkPointerMap &linkMap)
	map this and all child links

virtual EcCoordinateSystemTransformation	dhFrameInSystem (const EcPositionState &posState) const

virtual const EcCoordinateSystemTransformation &	dhFrameInSystem (EcManipulatorActivePositionState &actPosState) const

virtual EcCoordinateSystemTransformation	primaryFrameInSystem (const EcPositionState &posState) const

virtual const EcCoordinateSystemTransformation &	primaryFrameInSystem (EcManipulatorActivePositionState &actPosState) const

virtual EcGeneralVelocity	dhFrameVelocityInSystem (const EcManipulatorState &manipState) const

virtual const EcGeneralVelocity &	dhFrameVelocityInSystem (EcManipulatorActiveState &actState) const

virtual EcGeneralVelocity	dhFrameVelocityInLocal (const EcManipulatorState &manipState) const

virtual const EcGeneralVelocity &	dhFrameVelocityInLocal (EcManipulatorActiveState &actState) const

virtual EcGeneralVelocity	primaryFrameVelocityInSystem (const EcManipulatorState &manipState) const

virtual const EcGeneralVelocity &	primaryFrameVelocityInSystem (EcManipulatorActiveState &actState) const

virtual EcGeneralAcceleration	dhFrameAccelerationInLocal (const EcManipulatorState &manipState) const

virtual const EcGeneralAcceleration &	dhFrameAccelerationInLocal (EcManipulatorActiveState &actState) const

virtual EcGeneralAcceleration	primaryFrameAccelerationInSystem (const EcManipulatorState &manipState) const

virtual const EcGeneralAcceleration &	primaryFrameAccelerationInSystem (EcManipulatorActiveState &actState) const

virtual const EcGeneralForce &	dhFrameForceInLocal (const EcManipulatorExternalForce &manipExtForce, EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const

virtual const EcRigidBodyMassProperties &	crbi (EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const

virtual const EcArticulatedBodyDynamics &	arbd (const EcManipulatorExternalForce &manipExtForce, const EcManipulatorTorque &manipTorque, EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const

virtual void	addArbdToParent (EcArticulatedBodyDynamics &parentArbd, const EcManipulatorExternalForce &manipExtForce, const EcManipulatorTorque &manipTorque, EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const
	add the arbd for this link to the parent's value. More...

virtual const EcGeneralAcceleration &	arbiSupplementalDhFrameAccelerationInLocal (const EcManipulatorExternalForce &manipExtForce, const EcManipulatorTorque &manipTorque, EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const

virtual EcReal	arbiJointAcceleration (const EcManipulatorExternalForce &manipExtForce, const EcManipulatorTorque &manipTorque, EcManipulatorActiveState &actState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the joint acceleration for this link calculated using the arbi algorithm More...

virtual void	collectLeafLinks (EcManipulatorLinkConstPointerVector &linkPointerVector) const
	Collect leaf links into a list of link pointers. More...

virtual void	optimizeForRendering ()
	reorganize this link for optimial rendering (only needs to be done once)

virtual EcBoolean	lookup (const EcString &key, const EcDataMap *&property) const

virtual void	recursiveOptimizeForRendering ()
	reorganize this and all child links for optimal rendering

virtual const EcIndividualManipulator *	manipulator () const
	Returns the pointer to the manipulator that contains this link.

virtual void	setManipulatorPointer (const EcIndividualManipulator *pManip)
	Sets the pointer to the individual manipulator that contains this link.

virtual EcReal	upperBoundExtentDistance () const

virtual EcReal	upperBoundSubmanipulatorExtentDistance () const

virtual void	axisAlignedBoundingBoxVectorInSystem (EcManipulatorActivePositionState &state, EcAxisAlignedBoundingBoxVector &aabbVec, EcU32Vector &shapeIDVec) const

virtual void	relabelSubtree (const EcString &label, EcU32 &index)
	relabel a subtree based on the root label passed in

virtual void	deleteBoundingVolumes ()
	delete all the bounding volumes in the bvh hierarchy

virtual EcInt32	numberOfShapes () const
	returns the number of shapes associates with this link

virtual const EcShape *	shapeByIndex (const EcU32 &index) const
	get the shape by the index passed in

virtual const EcShape *	shapeByIdentifier (const EcString &name) const
	get a shape by string identifier

virtual EcBoolean	mapShapes ()
	set the index for each shape associated with this link

virtual void	setNumShapes (const EcU32 &nShapes)
	set the total number of shapes used to represent this link

virtual const EcU32 &	numShapes () const
	get the total number of shapes used to represent this link

virtual EcU32	numShapesInPhysicalRepresentation () const

virtual void	scaleIndividualLinkBy (EcReal scaleFactor)

virtual void	scaleBy (EcReal scaleFactor)

virtual EcBoolean	transformLinkTreeBy (const EcCoordinateSystemTransformation &xform)

virtual EcBoolean	transformPrimaryFrame (const EcCoordinateSystemTransformation &xform)

virtual void	intersectLineSegment (const EcLineSegment &lineSegment, EcLinkPointEvent &pointEvent, EcManipulatorActiveState *pActState, EcU32 levelOfDetail=0) const

virtual EcBoolean	setLinkReferences (const EcManipulatorLinkPointerMap &linkMap)

virtual EcBoolean	useReferencesWherePossible (const EcManipulatorLinkConstPointerVector &linkVector)
	change this link and the subtree to use references where possible

virtual EcBoolean	removeLinkReferences ()
	remove references to this link

virtual void	estimateMassProperties ()

virtual const EcToken &	token () const EC_OVERRIDE
	gets the xml token used for writing out. More...

virtual EcBoolean	read (EcXmlReader &stream) EC_OVERRIDE
	read this object from an XML stream

virtual EcBoolean	write (EcXmlWriter &stream) const EC_OVERRIDE
	write this object to an XML stream

virtual const EcShape *	getNthNonBoundingShape (const EcU32 n) const
	get the nth none-bounding shape of this link.

virtual void	boundingVolumes (EcShapeConstPointerVector &boundingShapes, const EcU32 &bvhLevel=1) const
	get all bounding volumes

virtual void	deleteAllBoundingVolumes ()
	delete all bounding volumes from the

virtual EcBoolean	setJointLimit (const EcString &linkLabel, EcBoolean isLowerLimit, EcReal value)
	set the new value for a joint limit More...

void	addBoundingVolume (const EcShape::EcShapeValues &bv)
	add a bounding volume to the shape in the shape container

void	copyLinkProperties (EcManipulatorLink &toLink) const
	copy the properties (link kinematics, mass properties, joint actuator, shape container, etc.) of this link to another link. This does not copy the child links. This should be used along with replaceLinkProperties method to efficiently modify some link properties of some link in the manipulator chain. More...

virtual EcBoolean	replaceLinkProperties (const EcString &linkLabel, const EcManipulatorLink &newLink, EcBoolean includeShapeContainer=EcFalse)
	replace the link properties (link kinematics, mass properties, joint actuator, shape container, etc.) of the link identified by linkLabel with the properties of newLink. This does not affect the child links of the link identified by linkLabel. More...

virtual EcBoolean	replaceMassProperties (const EcString &linkLabel, const EcRigidBodyMassProperties &newLink)
	replace the mass properties of the link identified by linkLabel. This does not affect the child links of the link identified by linkLabel. More...

EcBoolean	replaceJointActuator (const EcString &linkLabel, const EcJointActuator &jointActuator)
	replace the joint actuator of the link identified by linkLabel. This does not affect the child links of the link identified by linkLabel. More...

virtual EcBoolean	setSurfaceProperties (const EcString &key, const EcDataMap &properties)
	set the properties of the surface identified by key for all the shapes in this link. More...

virtual const EcLineSegment &	forceVectorInLocal (const EcManipulatorActiveState &activeState) const
	get the link's force vector resulting from impact forces

virtual const EcGeneralVelocity &	comVelocityInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the link's center of mass velocity represented in the local frame More...

virtual const EcGeneralAcceleration &	comAccelerationInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the link's center of mass acceleration represented in the local frame More...

virtual const EcGeneralMotion &	spatialMomentumInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the spatial momentum at the center of mass of this link represented in the link's D-H frame. More...

virtual const EcGeneralMotion &	compositeSpatialMomentumInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the composite spatial momentum of this link and its outboard links represented in the link's D-H frame. More...

virtual const EcGeneralMotion &	spatialMomentumRateInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the rate of spatial momentum at the center of mass of this link represented in the link's D-H frame. More...

virtual const EcGeneralMotion &	compositeSpatialMomentumRateInLocal (EcManipulatorActiveState &activeState, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute and return the composite rate of spatial momentum of this link and its outboard links represented in the link's D-H frame. More...

virtual EcBoolean	computeMomentFromLinearAcceleration (const EcVector &point, EcManipulatorActiveState &activeState, EcVector &moment, const EcStatedSystemStruct *statedSystemStruct=0) const
	compute the moment around a point due to linear acceleration of this link and its outboard links

virtual const EcStateConstraintContainer &	upperLimitConstraintContainer () const
	returns the upper limit constraint container for this link

virtual const EcBaseStateConstraint &	upperLimitConstraint () const
	returns the upper limit constraint for this link More...

virtual void	setUpperLimitConstraint (const EcBaseStateConstraint &value)
	sets the upper limit constraint for this link

virtual const EcStateConstraintContainer &	lowerLimitConstraintContainer () const
	returns the lower limit constraint container for this link

virtual const EcBaseStateConstraint &	lowerLimitConstraint () const
	returns the lower limit constraint for this link More...

virtual void	setLowerLimitConstraint (const EcBaseStateConstraint &value)
	sets the lower limit constraint for this link

virtual const EcNamedPoints &	namedPoints () const
	returns the map of named points

virtual void	setNamedPoints (const EcNamedPoints &value)
	sets the map of named points

virtual EcBoolean	lookupNamedPoint (const EcString &key, EcVector &point) const
	returns a point

virtual void	addNamedPoint (const EcString &key, const EcVector &point)
	adds a point to the map

virtual const EcNamedFrames &	namedFrames () const
	returns the map of named frames

virtual void	setNamedFrames (const EcNamedFrames &value)
	sets the map of named frames

virtual EcBoolean	lookupNamedFrame (const EcString &key, EcCoordinateSystemTransformation &frame) const
	returns a frame

virtual EcBoolean	addNamedFrame (const EcString &key, const EcCoordinateSystemTransformation &frame)
	adds a frame to the map

virtual EcBoolean	isConstrained () const
	returns whether this link is constrained

virtual void	setIsConstrained (EcBoolean value)
	sets whether this link is constrained

virtual void	addLinkToUnion (const EcIndividualManipulator &manip, const EcCoordinateSystemTransformation &offset)
	add a link to the union

virtual EcBoolean	popLinkFromUnion (const EcString &label, EcIndividualManipulator &manip, EcCoordinateSystemTransformation &offset)
	pop a link from the union

virtual void	manipulatorLabelsInUnion (EcStringSet &labels) const
	labels in the union

virtual EcBoolean	addSensor (const EcBaseSensor *sensorPtr)
	add a sensor

virtual const EcSensorVector &	sensorVector () const
	get sensor vector

virtual void	setSensorVector (const EcSensorVector &sensorVec)
	set sensor vector

virtual void	unreferenceShapes ()

virtual void	removePhysicalExtentRedundancy (const EcReal eps=0.0)

virtual EcSensorVector &	sensorVector ()

Public Member Functions inherited from EcXmlCompoundType
	ECDECLARE_BIGFOUR (EcXmlCompoundType)

virtual EcBoolean	readAttributes (EcXmlReader &stream)
	read object attributes from an XML stream

virtual EcBoolean	readElements (EcXmlReader &stream)
	read object elements from an XML stream

virtual EcBoolean	writeAttributes (EcXmlWriter &stream) const
	write object attributes to an XML stream

virtual EcBoolean	writeElements (EcXmlWriter &stream) const
	write object elements to an XML stream

virtual EcBoolean	writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
	write schema

virtual EcBoolean	writeSchemaAttributes (EcXmlSchema &stream) const
	write schema attributes

virtual EcBoolean	writeSchemaElements (EcXmlSchema &stream) const
	write schema elements

virtual void	registerComponent (const EcToken &token, EcXmlObject *obj)
	register a single component More...

virtual void	registerComponent (EcXmlObject *obj)
	register a single component More...

virtual void	registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
	register a single component as read-only More...

virtual const EcXmlComponentMap &	componentMap () const
	get a reference to the component map

virtual void	registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
	register a single attribute component More...

virtual void	registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
	register a single attribute component read-only More...

virtual const EcXmlComponentMap &	attributeComponentMap ()
	get a reference to the component attribute map

virtual const EcXmlSpecialDescriptorMap &	specialDescriptorMap ()
	get a reference to the special-descriptor map

virtual void	registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
	register an XML token-string descriptor More...

virtual const EcXmlTokenStringDescriptorMapMap &	tokenStringDescriptorMap ()
	get a reference to the XML token-string descriptor map

virtual EcBoolean	hasChildren () const
	return EcTrue if there are children components or EcFalse if an empty element.

virtual EcBoolean	hasAttributes () const
	return EcTrue if there are attributes in the element.

Public Member Functions inherited from EcXmlObject
	ECDECLARE_BIGFOUR (EcXmlObject)

virtual EcBoolean	readAttribute (EcXmlReader &stream)
	read this attribute from an XML stream

virtual EcBoolean	createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
	create schema

virtual EcBoolean	xmlInitialized () const
	get XML initialized flag. This bit is set on initialization.

virtual void	setXmlInitialized (EcBoolean val=EcTrue)
	set XML initialized flag. This bit is set on initialization.

virtual EcBoolean	specified () const
	get specified flag. This bit is set upon reading from an XML file.

virtual void	setSpecified (EcBoolean val=EcTrue)
	set specified flag. This bit is set upon reading from an XML file.

virtual EcBoolean	isBasicType () const
	Return true/false for basic type.

virtual EcBoolean	equalsDefault () const
	tests equality of XML object with default

Static Public Member Functions
static EcManipulatorLink	nullObject ()
	get a null link

Static Public Attributes
static const EcU32	BASEINDEX
	Copy of enumerations from foundCommon for backwards compatibility.

static const EcU32	VOIDINDEX

Protected Types
typedef std::vector< std::pair< EcIndividualManipulator, EcCoordinateSystemTransformation > >	EcManipulatorLinkInUnion
	type definition of the manipulator link in union

Protected Member Functions
virtual void	registerComponentsForBase ()
	register components with the parent for the base link

virtual void	updateDefaultLimitConstraints ()
	updates the default upper and lower limit constraints

virtual void	updateMassProperties ()
	recalculate the mass properties

virtual void	updateDHMassProperties ()
	recalculate the mass properties expressed in the D-H frame

virtual EcShape *	findShape (const EcString &linkName, const EcU32 &shapeID)
	return a pointer to the shape

Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean	readValueFromToken (const EcToken &token, EcXmlReader &stream)

virtual EcBoolean	readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
	read value from unregistered token

virtual EcBoolean	readAttributeFromToken (const EcToken &token, EcXmlReader &stream)

virtual EcXmlComponentMap *	newComponentMap () const
	allocate a new componentMap

virtual EcXmlSpecialDescriptorMap *	newSpecialDescriptorMap ()
	allocate a new specialDescriptorsMap

virtual EcXmlTokenStringDescriptorMapMap *	newTokenStringDescriptorMap ()
	allocate a new tokenStringDescriptorsMap

virtual void	createComponentMap () const
	create component map

virtual void	createAttributeComponentMap ()
	create attribute component map

virtual void	createSpecialDescriptorMap ()
	create special-descriptors map

virtual void	createTokenStringDescriptorMap ()
	create token-string descriptor map

virtual EcBoolean	isReadOnlyComponent (const EcToken token) const
	check to see if the token corresponds to a read-only component

virtual EcBoolean	isReadOnlyAttribute (const EcToken token) const
	check to see if the token corresponds to a read-only attribute

virtual EcXmlObject *	libraryAttribute ()

Static Protected Member Functions
static const EcArticulatedBodyDynamics &	theDummyArbd ()
	gets the dummy Arbd

Protected Attributes
EcXmlString	m_LinkLabel
	the identifying label

EcLinkKinematicsContainer	m_LinkKinematicsContainer
	the general joint set for the link

EcManipulatorLinkVector	m_ChildLinks
	the vector of child links

EcShapeContainer	m_ShapeContainer
	the physical extent of the link

EcJointActuator	m_JointActuator
	the actuator for the link

EcOldJointActuator	m_OldJointActuator
	the actuator for the link – deprecated

EcJointActuatorContainer	m_JointActuatorContainer
	the actuator for the link – deprecated

EcRigidBodyMassProperties	m_MassProperties
	the rigid-body mass properties of the link

EcSpringProperties	m_SpringProperties
	spring properties of this link

EcDamperProperties	m_DamperProperties
	damper properties of this link

EcLinkReferenceDescription	m_LinkReferenceDescription
	a reference information for this link

EcStateConstraintContainer	m_UpperLimitConstraintContainer
	container for the upper limit constraint

EcStateConstraintContainer	m_LowerLimitConstraintContainer
	container for the lower limit constraint

EcNamedPoints	m_NamedPoints
	Named points.

EcNamedFrames	m_NamedFrames
	Named frames.

EcXmlBoolean	m_IsConstrained
	Constrained tag.

EcRigidBodyMassPropertiesMap	m_MassPropertiesMap

EcSensorVector	m_SensorVector
	The vector of sensors attached to this link.

EcManipulatorLinkInUnion	m_vLinksInUnion
	a vector of manipulators in the union – used for manipulator combination

EcManipulatorLink *	m_pParentLink
	a pointer to the parent link in the tree

EcU32	m_LinkIndex
	the depth-first link index

EcRigidBodyMassProperties	m_TotalMassProperties
	the total mass properties of the link (combining the base one with all the ones in the map)

EcRigidBodyMassProperties	m_TotalMassPropertiesInDHFrame
	the rigid-body mass properties of the link expressed in the D-H frame

EcU32	m_NumberOfShapes
	number of shapes used to represent this link

EcShapeConstPointerMap	m_ShapePointerMap
	map of shape pointers for this link

EcShapePointerVector	m_ShapePointerVec
	linear vector of shape pointers for this link

EcMultivariableJointStateConstraint	m_DefaultUpperLimitConstraint
	the default upper limit constraint

EcMultivariableJointStateConstraint	m_DefaultLowerLimitConstraint
	the default lower limit constraint

const EcIndividualManipulator *	m_pManipulator
	a pointer to the individual manipulator that contains this link

const EcManipulatorLink *	m_pReferenceLink
	a pointer to a reference link

EcRigidBodyMassProperties	m_CombinedMassProperties
	the combined mass properties (combined with mass properties of link attached to this, if any)

EcCoordinateSystemTransformationVector	m_Offsets
	offset transformations

EcU32Vector	m_DependentManipulators
	dependent manipulators

Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMap *	m_pComponentMap

EcXmlComponentMap *	m_pAttributeComponentMap

EcXmlSpecialDescriptorMap *	m_pSpecialDescriptorMap

EcXmlTokenStringDescriptorMapMap *	m_pComponentMapTokenStringDescriptor

Protected Attributes inherited from EcXmlObject
EcU8	m_State
	the state of the object - eight boolean flags

Static Protected Attributes
static const EcCoordinateSystemTransformation	m_theDummyTransformation
	a dummy transformation

static const EcGeneralVelocity	m_theDummyGeneralVelocity
	a dummy general velocity

static const EcGeneralAcceleration	m_theDummyGeneralAcceleration
	a dummy general acceleration

static const EcGeneralForce	m_theDummyGeneralForce
	a dummy general force

static const EcRigidBodyMassProperties	m_theDummyCrbi
	a dummy composite rigid-body inertia

static const EcArticulatedBodyDynamics	m_theDummyArbd
	a dummy articulated rigid-body dynamics

static const EcCapsule	m_theDummyCapsuleBoundingVolume
	a dummy capsule bounding volume

static const EcGeneralMotion	m_theDummySpatialMomentum
	a dummy spatial momentum

static const EcGeneralMotion	m_theDummySpatialMomentumRate
	a dummy spatial momentum rate

static const EcReal	m_theDefaultCollisionAvoidanceMetric
	the default collision avoidance metric

Static Protected Attributes inherited from EcXmlObject
static const EcU8	m_theXmlInitializedBit
	the bit used to describe xml initialization

static const EcU8	m_theSpecifiedBit
	the bit used to describe specification

Additional Inherited Members
Public Types inherited from EcXmlCompoundType
enum	{ READONLYCOMPONENT = 0, READONLYATTRIBUTE }
	special-descriptor codes More...

Detailed Description

Holds a description of a manipulator link.

A Class describing a robotic manipulator link. This includes a list of child links, a string identifier, a Denavit-Hartenberg set, the physical extent, an actuator description, and mass properties.

This description includes the physical extent and geometry of the link. Each link can have any number of child links, so a link is in general the root of a tree.

Examples:: ecProgrammaticConstructionMain.cpp.

Definition at line 78 of file ecManipulatorLink.h.

Member Function Documentation

virtual void EcManipulatorLink::addArbdToParent	(	EcArticulatedBodyDynamics &	parentArbd,
		const EcManipulatorExternalForce &	manipExtForce,
		const EcManipulatorTorque &	manipTorque,
		EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

add the arbd for this link to the parent's value.

Parameters

parentArbd	The articulated-body dynamics of the parent's link
manipExtForce	The external force
manipTorque	The manipulator torque
actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

virtual void EcManipulatorLink::addChild ( const EcManipulatorLink & childLink )

virtual

Adds a child link by copy at the end of the child links vector.

Parameters

childLink The child link to be added.

Reimplemented in EcIndividualManipulator.

virtual EcBoolean EcManipulatorLink::addLinkToChildLinkByName	(	const EcManipulatorLink &	link,
		const EcString &	parent
	)

virtual

Adds a link by copy to the link with the given label.

Parameters

[in]	link	The link to be added.
[in]	parent	Name of link to attach to

Returns: true if parent link found

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::addLinkToEndOfChain ( const EcManipulatorLink & link )

virtual

Adds a link by copy to the end of the first chain rooted at this link.

Parameters

link	The link to be added.

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::appendToAllLabels ( const EcString & appendage )

virtual

appends a string to all labels of all links including child links.

Parameters

[in] appendage A string to append.

virtual const EcArticulatedBodyDynamics& EcManipulatorLink::arbd	(	const EcManipulatorExternalForce &	manipExtForce,
		const EcManipulatorTorque &	manipTorque,
		EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the articulated-body dynamics (articulated-body inertia and bias force) for this link represented in the link's D-H frame.

Parameters

manipExtForce	The external force
manipTorque	The manipulator torque
actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the articulated-body dynamics for this link represented in the link's D-H frame

Reimplemented in EcIndividualManipulator.

virtual EcReal EcManipulatorLink::arbiJointAcceleration	(	const EcManipulatorExternalForce &	manipExtForce,
		const EcManipulatorTorque &	manipTorque,
		EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the joint acceleration for this link calculated using the arbi algorithm

Parameters

manipExtForce	The external force
manipTorque	The manipulator torque
actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the joint acceleration for this link

virtual const EcGeneralAcceleration& EcManipulatorLink::arbiSupplementalDhFrameAccelerationInLocal	(	const EcManipulatorExternalForce &	manipExtForce,
		const EcManipulatorTorque &	manipTorque,
		EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

get the supplemental D-H frame acceleration represented in the local frame. this supplemental acceleration is the acceleration produced only by the base acceleration (if it exists) and joint accelerations.

Parameters

manipExtForce	The external force
manipTorque	The manipulator torque
actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the supplemental D-H frame acceleration represented in the local frame.

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::axisAlignedBoundingBoxVectorInSystem	(	EcManipulatorActivePositionState &	state,
		EcAxisAlignedBoundingBoxVector &	aabbVec,
		EcU32Vector &	shapeIDVec
	)		const

virtual

compute and return the vector of bounding boxes describing the shape (or shapes) the represent this link. This will always return one AABB unless the shape that defines the link is a union node, in which case it will return one AABB for each leaf node in the tree of unions.

virtual void EcManipulatorLink::collectLeafLinks ( EcManipulatorLinkConstPointerVector & linkPointerVector ) const

virtual

Collect leaf links into a list of link pointers.

Parameters

[out] linkPointerVector The list of link pointers containing all leaf links.

Examples:: ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.

virtual const EcGeneralAcceleration& EcManipulatorLink::comAccelerationInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the link's center of mass acceleration represented in the local frame

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the link's center of mass acceleration represented in the local frame

virtual const EcGeneralMotion& EcManipulatorLink::compositeSpatialMomentumInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the composite spatial momentum of this link and its outboard links represented in the link's D-H frame.

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the composite spatial momentum of this link and its outboard links represented in the link's D-H frame.

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralMotion& EcManipulatorLink::compositeSpatialMomentumRateInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the composite rate of spatial momentum of this link and its outboard links represented in the link's D-H frame.

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the composite rate of spatial momentum of this link and its outboard links represented in the link's D-H frame.

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralVelocity& EcManipulatorLink::comVelocityInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the link's center of mass velocity represented in the local frame

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the link's center of mass velocity represented in the local frame

void EcManipulatorLink::copyLinkProperties ( EcManipulatorLink & toLink ) const

copy the properties (link kinematics, mass properties, joint actuator, shape container, etc.) of this link to another link. This does not copy the child links. This should be used along with replaceLinkProperties method to efficiently modify some link properties of some link in the manipulator chain.

Parameters

[in] toLink The other link to which this link properties will be copied.

virtual const EcRigidBodyMassProperties& EcManipulatorLink::crbi	(	EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the composite rigid-body inertia of this and all outboard links represented in the link's D-H frame.

Parameters

actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the composite rigid-body inertia of this and all outboard links represented in the link's D-H frame

Reimplemented in EcIndividualManipulator.

virtual EcBoolean EcManipulatorLink::deleteMassProperties ( const EcString & identifier )

virtual

delete the mass properties identified by identifier. Returns true if deletion is successful and this will change the total mass properties of the link. Or returns false if identifier doesn't exist.

virtual EcGeneralAcceleration EcManipulatorLink::dhFrameAccelerationInLocal ( const EcManipulatorState & manipState ) const

virtual

get the link's D-H frame acceleration represented in the local frame from a manipulator state This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] manipState The manipulator state at which the DH frame acceleration is calculated. The manipulator state must have valid position, velocity, and acceleration states

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralAcceleration& EcManipulatorLink::dhFrameAccelerationInLocal ( EcManipulatorActiveState & actState ) const

virtual

get the link's D-H frame acceleration represented in the local frame Note that the active state caches the computed value, which can be reused.

Parameters

[in,out] actState The active state at which the DH frame acceleration is calculated.

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralForce& EcManipulatorLink::dhFrameForceInLocal	(	const EcManipulatorExternalForce &	manipExtForce,
		EcManipulatorActiveState &	actState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the general force that must be applied to the link to achieve the motion specified in the active state.

Parameters

manipExtForce	The external force
actState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the general force that must be applied to the link to achieve the motion

Reimplemented in EcIndividualManipulator.

virtual EcCoordinateSystemTransformation EcManipulatorLink::dhFrameInSystem ( const EcPositionState & posState ) const

virtual

get the link's D-H frame represented in the system frame from a position state. This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] posState The position state at which the DH frame is calculated.

Reimplemented in EcIndividualManipulator.

virtual const EcCoordinateSystemTransformation& EcManipulatorLink::dhFrameInSystem ( EcManipulatorActivePositionState & actPosState ) const

virtual

get the link's D-H frame represented in the system frame from an active position state. Note that the active position state caches the computed value, which can be reused.

Parameters

[in,out] actPosState The active position state at which the DH frame is calculated.

Reimplemented in EcIndividualManipulator.

virtual EcGeneralVelocity EcManipulatorLink::dhFrameVelocityInLocal ( const EcManipulatorState & manipState ) const

virtual

get the link's D-H frame velocity represented in the local frame from a manipulator state. This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] manipState The manipulator state at which the DH frame velocity is calculated. The manipulator state must have valid position state and velocity state

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralVelocity& EcManipulatorLink::dhFrameVelocityInLocal ( EcManipulatorActiveState & actState ) const

virtual

get the link's D-H frame velocity represented in the local frame from an active state. Note that the active state caches the computed value, which can be reused.

Parameters

[in,out] actState The active state at which the DH frame velocity is calculated.

Reimplemented in EcIndividualManipulator.

virtual EcGeneralVelocity EcManipulatorLink::dhFrameVelocityInSystem ( const EcManipulatorState & manipState ) const

virtual

get the link's D-H frame velocity represented in the system frame from a manipulator state. The point of application of this motion is the origin of the D-H frame. This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] manipState The manipulator state at which the DH frame velocity is calculated. The manipulator state must have valid position state and velocity state

Reimplemented in EcIndividualManipulator.

virtual const EcGeneralVelocity& EcManipulatorLink::dhFrameVelocityInSystem ( EcManipulatorActiveState & actState ) const

virtual

get the link's D-H frame velocity represented in the system frame from an active state. The point of application of this motion is the origin of the D-H frame. Note that the active state caches the computed value, which can be reused.

Parameters

[in,out] actState The active state at which the DH frame velocity is calculated.

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::estimateMassProperties ( )

virtual

try to guess the mass properties of this link using a bounding capsule and nominal density

Examples:: ecProgrammaticConstructionMain.cpp.

virtual void EcManipulatorLink::intersectLineSegment	(	const EcLineSegment &	lineSegment,
		EcLinkPointEvent &	pointEvent,
		EcManipulatorActiveState *	pActState,
		EcU32	levelOfDetail = `0`
	)		const

virtual

intersect a line segment with this link, returning the closest point along the line segment using the initial closest point provided in pointEvent.

virtual EcBoolean EcManipulatorLink::lookup	(	const EcString &	key,
		const EcDataMap *&	property
	)		const

virtual

lookup the surface property given a key, this checks the local shape associated with this link, then the manipulators mapping

Parameters

[in]	key	A string used to look up a surface property.
[out]	property	The surface property associated with the key. Set to 0 if the key is not found.

Returns: True if the key is found or false otherwise.

Reimplemented in EcIndividualManipulator.

virtual const EcBaseStateConstraint& EcManipulatorLink::lowerLimitConstraint ( ) const

virtual

returns the lower limit constraint for this link

The constraint is in the general form of f(q)>=0, where q is the position state (base position plus joint positions). This allows, for example, the lower limit of this joint to be a function of the position of another joint. For example, if the lower limit of joint 1 is a linear function of joint 0 in the form of lowerLim0 = 2*q1 + 1.5. Then, the constraint will be q0-(2*q1+1.5)>=0. Thus, f(q) is q0 - 2*q1 - 1.5, where q0 and q1 is the joint positions of joints 0 and 1, respectively. Note that If the constraint container is empty, this will return a default constraint.

virtual const EcRigidBodyMassProperties& EcManipulatorLink::massProperties ( const EcStatedSystemStruct * statedSystemStruct = 0 ) const

virtual

gets mass properties expressed in primary frame. This is the base mass properties combined with the mass properties in the map, which is the total mass properties of this link.

Parameters

[in] statedSystemStruct A pointer to the stated system struct. If not null, the returned mass properties will be the combined mass properties of this link plus a link, if any, that's attached to this link.

virtual const EcRigidBodyMassProperties& EcManipulatorLink::massPropertiesInDHFrame ( const EcStatedSystemStruct * statedSystemStruct = 0 ) const

virtual

gets the mass properties expressed in the D-H frame

Parameters

[in] statedSystemStruct A pointer to the stated system struct. If not null, the returned mass properties will be the combined mass properties of this link plus a link, if any, that's attached to this link.

virtual EcU32 EcManipulatorLink::numShapesInPhysicalRepresentation ( ) const

virtual

gets the number of shapes used for the physical representation of the link. This is one unless union nodes are used.

virtual EcGeneralAcceleration EcManipulatorLink::primaryFrameAccelerationInSystem ( const EcManipulatorState & manipState ) const

virtual

get the link's primary frame acceleration represented in the system frame from a manipulator state This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] manipState The manipulator state at which the DH frame acceleration is calculated. The manipulator state must have valid position, velocity, and acceleration states

virtual const EcGeneralAcceleration& EcManipulatorLink::primaryFrameAccelerationInSystem ( EcManipulatorActiveState & actState ) const

virtual

get the link's primary frame acceleration represented in the system frame Note that the active state caches the computed value, which can be reused.

Parameters

[in,out] actState The active state at which the primary frame acceleration is calculated.

virtual EcCoordinateSystemTransformation EcManipulatorLink::primaryFrameInSystem ( const EcPositionState & posState ) const

virtual

get the link's primary frame represented in the system frame from a position state This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] posState The position state at which the primary frame is calculated.

virtual const EcCoordinateSystemTransformation& EcManipulatorLink::primaryFrameInSystem ( EcManipulatorActivePositionState & actPosState ) const

virtual

get the link's primary frame represented in the system frame from an active position state Note that the active position state caches the computed value, which can be reused.

Parameters

[in,out] actPosState The active position state at which the primary frame is calculated.

virtual EcGeneralVelocity EcManipulatorLink::primaryFrameVelocityInSystem ( const EcManipulatorState & manipState ) const

virtual

get the link's primary frame velocity represented in the system frame from a manipulator state. The point of application of this motion is the origin of the primary frame. This is suitable for one-time calculate since the computed value is not cached.

Parameters

[in] manipState The manipulator state at which the primary frame velocity is calculated. The manipulator state must have valid position state and velocity state

virtual const EcGeneralVelocity& EcManipulatorLink::primaryFrameVelocityInSystem ( EcManipulatorActiveState & actState ) const

virtual

get the link's primary frame velocity represented in the system frame from an active state. The point of application of this motion is the origin of the primary frame. Note that the active state caches the computed value, which can be reused.

Parameters

[in,out] actState The active state at which the primary frame velocity is calculated.

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::removePhysicalExtentRedundancy ( const EcReal eps = 0.0 )

virtual

remove physical extent redundancy eps (epsilon) is used to remove close points

EcBoolean EcManipulatorLink::replaceJointActuator	(	const EcString &	linkLabel,
		const EcJointActuator &	jointActuator
	)

replace the joint actuator of the link identified by linkLabel. This does not affect the child links of the link identified by linkLabel.

Parameters

[in]	linkLabel	The string identifier of the link whose properties are to be changed.
[in]	jointActuator	The joint actuator that will be used.

Returns: True if successful or false if linkLabel is invalid.

virtual EcBoolean EcManipulatorLink::replaceLinkProperties	(	const EcString &	linkLabel,
		const EcManipulatorLink &	newLink,
		EcBoolean	includeShapeContainer = `EcFalse`
	)

virtual

replace the link properties (link kinematics, mass properties, joint actuator, shape container, etc.) of the link identified by linkLabel with the properties of newLink. This does not affect the child links of the link identified by linkLabel.

Parameters

[in]	linkLabel	The string identifier of the link whose properties are to be changed.
[in]	newLink	A link whose properties will be used.
[in]	includeShapeContainer	If true, the shape container of the link identified by linkLabel will be replaced by the shape container of newLink. Shape container is a special case because of it may be referenced, in which case it needs to be unreferenced. The default is false, i.e. the shape container will not be replaced.

Returns: True if successful or false if linkLabel is invalid.

virtual EcBoolean EcManipulatorLink::replaceMassProperties	(	const EcString &	linkLabel,
		const EcRigidBodyMassProperties &	newLink
	)

virtual

replace the mass properties of the link identified by linkLabel. This does not affect the child links of the link identified by linkLabel.

Parameters

[in]	linkLabel	The string identifier of the link whose properties are to be changed.
[in]	newLink	The mass properties that will be used.

Returns: True if successful or false if linkLabel is invalid.

virtual void EcManipulatorLink::scaleBy ( EcReal scaleFactor )

virtual

scale the link and all children by the specified value (scaleFactor=1.0 does not change the link)

virtual void EcManipulatorLink::scaleIndividualLinkBy ( EcReal scaleFactor )

virtual

scale just this link by the specified value (scaleFactor=1.0 does not change the link)

virtual EcBoolean EcManipulatorLink::setJointLimit	(	const EcString &	linkLabel,
		EcBoolean	isLowerLimit,
		EcReal	value
	)

virtual

set the new value for a joint limit

Parameters

[in]	linkLabel	The identifying label of the link (joint)
[in]	isLowerLimit	True for a lower limit or false for upper limit
[in]	value	The new value for the joint limit

virtual EcBoolean EcManipulatorLink::setLinkReferences ( const EcManipulatorLinkPointerMap & linkMap )

virtual

assign the references for this links in this and the subtree from the map (as needed)

virtual void EcManipulatorLink::setMassProperties ( const EcRigidBodyMassProperties & massProperties )

virtual

sets the total mass properties expressed in primary frame. This will set the base mass properties to massProperties and clear the mass properties map

Examples:: ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.

virtual void EcManipulatorLink::setPrimaryFrame ( const EcCoordinateSystemTransformation & primaryFrame )

virtual

sets the primary frame

Parameters

[in] primaryFrame The primary frame in local coordinates

Examples:: ecProgrammaticConstructionMain.cpp.

virtual EcBoolean EcManipulatorLink::setSurfaceProperties	(	const EcString &	key,
		const EcDataMap &	properties
	)

virtual

set the properties of the surface identified by key for all the shapes in this link.

Parameters

[in]	key	A string to identify the surface material.
[in]	properties	The surface properties to be set.

Returns: True if key is found in at least one shape or false otherwise.

Reimplemented in EcIndividualManipulator.

virtual EcBoolean EcManipulatorLink::setSurfaces	(	const EcString &	linkName,
		const EcU32 &	shapeID,
		const EcStringDataMapMap &	surfaces
	)

virtual

set shape surface properties if the name matched, visit the child link recursively.

virtual const EcGeneralMotion& EcManipulatorLink::spatialMomentumInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the spatial momentum at the center of mass of this link represented in the link's D-H frame.

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the spatial momentum at the center of mass of this link represented in the link's D-H frame.

virtual const EcGeneralMotion& EcManipulatorLink::spatialMomentumRateInLocal	(	EcManipulatorActiveState &	activeState,
		const EcStatedSystemStruct *	statedSystemStruct = `0`
	)		const

virtual

compute and return the rate of spatial momentum at the center of mass of this link represented in the link's D-H frame.

Parameters

activeState	The manipulator active state
statedSystemStruct	The stated system struct for use when there are other manipulators attached to this link. If so, the mass properties of the attached manipulators will be included in the calculation. If this parameter is null or there's not attached manipulator, then only this link's mass properties are used.

Returns: the rate of spatial momentum at the center of mass of this link represented in the link's D-H frame.

virtual EcU32 EcManipulatorLink::subtreeLinkCount ( ) const

virtual

subtree Link count (count includes this link)

Returns: The total number of links that belong to this link tree including this link.

virtual const EcToken& EcManipulatorLink::token ( ) const

virtual

gets the xml token used for writing out.

Implements EcXmlObject.

Reimplemented in EcIndividualManipulator.

virtual void EcManipulatorLink::transformComponentsBy ( const EcCoordinateSystemTransformation xform )

virtual

transform components (mass properties and shape). this has the same effect as setting the primary frame from identity to this value

virtual EcBoolean EcManipulatorLink::transformLinkTreeBy ( const EcCoordinateSystemTransformation & xform )

virtual

transform this with respect to its parent by a general coordinate system transformation. This transformation is inserted before the link placement. If the kinematics class has a precursor P, the P=XForm*P;

virtual EcBoolean EcManipulatorLink::transformPrimaryFrame ( const EcCoordinateSystemTransformation & xform )

virtual

transform this link so that the primary frame transformation is that given, but the link does not change (i.e., if xform is identity, then the primary frame will coincide with the DH frame, but the link won't change). After calling the primary frame equals xform.

virtual void EcManipulatorLink::unreferenceShapes ( )

virtual

normally, the shapes are shared among the same link of the same manipulator in different copies of the system for space efficiency. Calling this method will copy the shape container and break that sharing. Note that this is performed on this link and the child links as well

virtual EcReal EcManipulatorLink::upperBoundExtentDistance ( ) const

virtual

returns the upper bound extent distance. This is the distance from the DH frame to the polygon furthest away from the frame for this link

virtual EcReal EcManipulatorLink::upperBoundSubmanipulatorExtentDistance ( ) const

virtual

returns the upper bound extent distance for the links that make up the sub-manipulator beneath this link

virtual const EcBaseStateConstraint& EcManipulatorLink::upperLimitConstraint ( ) const

virtual

returns the upper limit constraint for this link

The constraint is in the general form of f(q)>=0, where q is the position state (base position plus joint positions). This allows, for example, the upper limit of this joint to be a function of the position of another joint. For example, if the upper limit of joint 1 is a linear function of joint 0 in the form of upperLim0 = 2*q1 + 1.5. Then, the constraint will be 2*q1+1.5-q0>=0. Thus, f(q) is -q0 + 2*q1 + 1.5, where q0 and q1 is the joint positions of joints 0 and 1, respectively. Note that If the constraint container is empty, this will return a default constraint.

Member Data Documentation

EcRigidBodyMassPropertiesMap EcManipulatorLink::m_MassPropertiesMap

protected

The map containing mass properties in addition to the base mass properties. The total mass properties of the link is obtained by combining the base with all mass properties in the map.

Definition at line 1412 of file ecManipulatorLink.h.

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

ecManipulatorLink.h

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