Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcLinkKinematicsContainer Class Reference

Holds a container for link-motion description. More...

#include <ecLinkKinematicsContainer.h>

Inheritance diagram for EcLinkKinematicsContainer:
EcBaseExpressionTreeContainer< ExpressionType > EcXmlBaseVariableCompoundType EcXmlObject

Public Member Functions

 EcLinkKinematicsContainer ()
 default constructor
 
virtual ~EcLinkKinematicsContainer ()
 destructor
 
 EcLinkKinematicsContainer (const EcLinkKinematicsContainer &orig)
 copy constructor
 
EcLinkKinematicsContaineroperator= (const EcLinkKinematicsContainer &orig)
 assignment operator
 
EcBoolean operator== (const EcLinkKinematicsContainer &orig) const
 equality operator
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcTokentoken () const EC_OVERRIDE
 return a string token
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual void registerComponentCreators () EC_OVERRIDE
 register all component creators
 
virtual EcBoolean addChildArbdToParent (EcArticulatedBodyDynamics &parentArbd, const EcArticulatedBodyDynamics &childArbd, const EcReal jointValue, const EcReal jointTorque, const EcReal effectiveMotorInertia) const
 add child arbd to parent's arbd
 
virtual void scaleBy (EcReal scaleFactor)
 
virtual EcBoolean transformBy (const EcCoordinateSystemTransformation &xform)
 
virtual EcReal jointParameterScalability () const
 
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 EcCoordinateSystemTransformationprimaryFrame () const
 get Primary Frame
 
virtual const EcCoordinateSystemTransformationprimaryFrameInverse () const
 get Primary Frame Inverse
 
virtual void setPrimaryFrame (const EcCoordinateSystemTransformation &value)
 set Primary Frame
 
virtual const EcCoordinateSystemTransformationcalculateTransform (EcReal jointValue) const
 calculate transformation
 
virtual void transformBy (EcCoordinateSystemTransformation &xform, EcReal jointValue) const
 
virtual const EcGeneralMotioncalculateVelocity (EcReal jointValue, EcReal jointVelocity) const
 get the general motion of the frame (locally represented).
 
virtual const EcGeneralAccelerationcalculateAcceleration (EcReal jointValue, EcReal jointVelocity, EcReal jointAcceleration) const
 get the general acceleration of the frame (locally represented).
 
virtual EcReal unitAccelerationTorque (EcReal jointValue, const EcArticulatedBodyInertia &inertia) const
 
virtual EcReal torqueRequiredToExert (EcReal jointValue, const EcGeneralForce &exertedGeneralForce) const
 get the torque required to exert the specified general force
 
virtual EcU32 unitType () const
 return the unit type of the underlying link kinematics
 
virtual void setTopElement (const EcLinkKinematics &value) EC_OVERRIDE
 set the link kinematics at the top element
 
- Public Member Functions inherited from EcBaseExpressionTreeContainer< ExpressionType >
 ECDECLARE_BIGFOUR (EcBaseExpressionTreeContainer)
 
virtual const ExpressionType * topElement () const
 gets a pointer to the top expression (const)
 
virtual ExpressionType * topElement ()
 gets a pointer to the top expression (nonconst)
 
virtual void setTopElement (const ExpressionType &topElement)
 sets the top expression through a copy
 
virtual void setAndDeleteTopElementPointer (ExpressionType *pTopElement)
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write object schema to an XML stream
 
virtual void setTopElementContainerToThis ()
 
- Public Member Functions inherited from EcXmlBaseVariableCompoundType
 ECDECLARE_BIGFOUR (EcXmlBaseVariableCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xml-initialize
 
virtual void registerComponentCreator (const EcToken &token, EcXmlObjectCreator creator)
 register a single optional component
 
virtual EcXmlObjectnewObjectFromToken (const EcToken &token) const
 create a new object from its token
 
virtual const EcXmlStringVectoraddLibraries () const
 gets the library names (minus extension)
 
virtual void setAddLibraries (const EcXmlStringVector &addLibraries)
 sets the library names (minus extension)
 
virtual const EcXmlCreatorMapcreatorMap () const
 gets the creator map
 
- 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 EcLinkKinematicsContainer nullObject ()
 get a null object
 

Static Protected Attributes

static const EcCoordinateSystemTransformation m_theIdentity
 define an identity transformation
 
static const EcGeneralMotion m_theNullMotion
 define a null general motion
 
- 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

- Protected Member Functions inherited from EcBaseExpressionTreeContainer< ExpressionType >
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream) EC_OVERRIDE
 
- Protected Member Functions inherited from EcXmlBaseVariableCompoundType
virtual void processLibraries ()
 process the add libraries
 
- Protected Attributes inherited from EcBaseExpressionTreeContainer< ExpressionType >
ExpressionType * m_pTopElement
 the top expression element
 
- Protected Attributes inherited from EcXmlBaseVariableCompoundType
EcXmlFactory m_XmlFactory
 A map holding the relationship between string labels and subcomponents.
 
EcXmlStringVector m_AddLibraries
 the arry of library names
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Detailed Description

Holds a container for link-motion description.

Holds a container for link-motion description.

Definition at line 22 of file ecLinkKinematicsContainer.h.

Member Function Documentation

virtual EcReal EcLinkKinematicsContainer::jointParameterScalability ( ) const
virtual

return the scale factor for the joint parameter (=1 for a distance-based parameter, 0 for non-distance-based)

virtual void EcLinkKinematicsContainer::scaleBy ( EcReal  scaleFactor)
virtual

scale the kinematics by the specified distance-scale value (scaleFactor=1.0 does not change the object)

virtual EcBoolean EcLinkKinematicsContainer::transformBy ( const EcCoordinateSystemTransformation xform)
virtual

transform this 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 void EcLinkKinematicsContainer::transformBy ( EcCoordinateSystemTransformation xform,
EcReal  jointValue 
) const
virtual

transform an inboard transformation to the link's frame The output is xform*DH(jointValue).

virtual EcReal EcLinkKinematicsContainer::unitAccelerationTorque ( EcReal  jointValue,
const EcArticulatedBodyInertia inertia 
) const
virtual

get the torque required to produce a unit acceleration of an articulated rigid body


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.