#include <humanHand.h>
Classes | |
| class | WrappingSide |
| Holds info about which side of the wrapper a certain tendon must go. More... | |
Public Member Functions | |
| void | createGeometry () |
| Link * | getAttachedLink () |
| int | getChainNr () |
| SoSeparator * | getIVRoot () |
| int | getLinkNr () |
| vec3 | getLocation () const |
| double | getMu () const |
| vec3 | getOrientation () const |
| double | getRadius () const |
| Robot * | getRobot () |
| bool | isExempt (QString name) |
| Check if the tendon with the given name is exempt from intersection with this tendon. | |
| bool | loadFromXml (const TiXmlElement *root) |
| void | setLocation (vec3 loc) |
| void | setMu (double mu) |
| void | setOrientation (vec3 orient) |
| void | setRadius (double r) |
| TendonWrapper (Robot *myOwner) | |
| void | updateGeometry () |
| bool | wrappingSide (QString tendonName, vec3 &direction) |
| Returns info on the wrapping side for the given tendon, or false if none is defined. | |
Public Attributes | |
| double | length |
| vec3 | location |
| vec3 | orientation |
| double | radius |
Private Attributes | |
| int | attachChainNr |
| int | attachLinkNr |
| SoSeparator * | IVWrapper |
| SoCylinder * | IVWrapperGeom |
| SoMaterial * | IVWrapperMaterial |
| SoTransform * | IVWrapperTran |
| std::list< QString > | mExemptList |
| A list of tendons (by name) that are exempt from wrapping around this wrapper. | |
| double | mMu |
| std::vector< WrappingSide > | mWrappingSideVec |
| A list of wrapping sides for tendons in the system. | |
| Robot * | owner |
The TendonWrapper is a cylindrical shape that a tendon is not alowed to penetrate and must wrap around. Like an insertion point, it is attached to a robot link, and defined in the link's coordinate system.
Definition at line 147 of file humanHand.h.
| TendonWrapper::TendonWrapper | ( | Robot * | myOwner | ) |
Definition at line 960 of file humanHand.cpp.
| void TendonWrapper::createGeometry | ( | ) |
Definition at line 980 of file humanHand.cpp.
| Link * TendonWrapper::getAttachedLink | ( | ) |
Use this function to get the link the tendon wrapper is attached to. If chain is -1 this means it is attached to the base of the robot and this function will handle this correctly.
Definition at line 970 of file humanHand.cpp.
| int TendonWrapper::getChainNr | ( | ) | [inline] |
Definition at line 195 of file humanHand.h.
| SoSeparator* TendonWrapper::getIVRoot | ( | ) | [inline] |
Definition at line 194 of file humanHand.h.
| int TendonWrapper::getLinkNr | ( | ) | [inline] |
Definition at line 196 of file humanHand.h.
| vec3 TendonWrapper::getLocation | ( | ) | const [inline] |
Definition at line 181 of file humanHand.h.
| double TendonWrapper::getMu | ( | ) | const [inline] |
Definition at line 190 of file humanHand.h.
| vec3 TendonWrapper::getOrientation | ( | ) | const [inline] |
Definition at line 184 of file humanHand.h.
| double TendonWrapper::getRadius | ( | ) | const [inline] |
Definition at line 187 of file humanHand.h.
| Robot* TendonWrapper::getRobot | ( | ) | [inline] |
Definition at line 178 of file humanHand.h.
| bool TendonWrapper::isExempt | ( | QString | name | ) |
Check if the tendon with the given name is exempt from intersection with this tendon.
Definition at line 1130 of file humanHand.cpp.
| bool TendonWrapper::loadFromXml | ( | const TiXmlElement * | root | ) |
Definition at line 1045 of file humanHand.cpp.
| void TendonWrapper::setLocation | ( | vec3 | loc | ) |
Definition at line 1016 of file humanHand.cpp.
| void TendonWrapper::setMu | ( | double | mu | ) | [inline] |
Definition at line 189 of file humanHand.h.
| void TendonWrapper::setOrientation | ( | vec3 | orient | ) |
Definition at line 1022 of file humanHand.cpp.
| void TendonWrapper::setRadius | ( | double | r | ) |
Definition at line 1028 of file humanHand.cpp.
| void TendonWrapper::updateGeometry | ( | ) |
Definition at line 1007 of file humanHand.cpp.
| bool TendonWrapper::wrappingSide | ( | QString | tendonName, | |
| vec3 & | direction | |||
| ) |
Returns info on the wrapping side for the given tendon, or false if none is defined.
Definition at line 1034 of file humanHand.cpp.
int TendonWrapper::attachChainNr [private] |
Definition at line 157 of file humanHand.h.
int TendonWrapper::attachLinkNr [private] |
Definition at line 156 of file humanHand.h.
SoSeparator* TendonWrapper::IVWrapper [private] |
Definition at line 161 of file humanHand.h.
SoCylinder* TendonWrapper::IVWrapperGeom [private] |
Definition at line 164 of file humanHand.h.
SoMaterial* TendonWrapper::IVWrapperMaterial [private] |
Definition at line 162 of file humanHand.h.
SoTransform* TendonWrapper::IVWrapperTran [private] |
Definition at line 163 of file humanHand.h.
| double TendonWrapper::length |
Definition at line 174 of file humanHand.h.
Definition at line 173 of file humanHand.h.
std::list<QString> TendonWrapper::mExemptList [private] |
A list of tendons (by name) that are exempt from wrapping around this wrapper.
Definition at line 167 of file humanHand.h.
double TendonWrapper::mMu [private] |
Definition at line 158 of file humanHand.h.
std::vector<WrappingSide> TendonWrapper::mWrappingSideVec [private] |
A list of wrapping sides for tendons in the system.
Definition at line 170 of file humanHand.h.
Definition at line 173 of file humanHand.h.
Robot* TendonWrapper::owner [private] |
Definition at line 159 of file humanHand.h.
| double TendonWrapper::radius |
Definition at line 174 of file humanHand.h.
