TendonInsertionPoint Class Reference

#include <humanHand.h>

Public Member Functions
Link *	getAttachedLink ()
	Use this function to get the link the insertion point is attached to.
vec3	getAttachPoint () const
SoSeparator *	getIVConnector ()
SoCylinder *	getIVConnectorGeom ()
SoMaterial *	getIVConnectorMaterial ()
SoTransform *	getIVConnectorTran ()
SoSeparator *	getIVInsertion ()
SoSphere *	getIVInsertionGeom ()
SoMaterial *	getIVInsertionMaterial ()
double	getMu () const
Tendon *	getTendon ()
SbVec3f	getWorldPosition ()
bool	isPermanent () const
void	removeAllGeometry ()
void	setAttachPoint (vec3 attachPoint)
void	setMu (double mu)
void	setPermanent (bool p)
	TendonInsertionPoint (Tendon *myOwner, int chain, int link, vec3 point, double mu, bool isPerm=true)
Public Attributes
vec3	mInsertionForce
	The force applied by the tendon at this insertion point, in world coordinates.
Static Public Attributes
static const double	CONNECTOR_RADIUS = 0.24
static const double	INSERTION_POINT_RADIUS = 0.45
Private Member Functions
void	createConnectorGeometry ()
void	createInsertionGeometry ()
Private Attributes
int	mAttachChainNr
	Robot chain nnumber that tendon is attached to.
int	mAttachLinkNr
	Link number for the link that the insertion point is on.
vec3	mAttachPoint
	The location of the insertion point, in link coordinates.
SoSeparator *	mIVConnector
SoCylinder *	mIVConnectorGeom
SoMaterial *	mIVConnectorMaterial
SoTransform *	mIVConnectorTran
SoSeparator *	mIVInsertion
SoSphere *	mIVInsertionGeom
SoMaterial *	mIVInsertionMaterial
SoTransform *	mIVInsertionTran
double	mMu
	The effective friction coefficient between the tendon and the insertion point.
Tendon *	mOwner
bool	mPermanent
	This tells wether the insertion point is permanent, or dynamic.

Detailed Description

An insertion point is a point where a tendon inserts into, or changes direction on a link of a robot. Currently it is the only way to change the routing of a tendon, as intersection of tendons and general geometry are not calculated. Insertion points are also the only points where a tendon can apply force to the link. They are also called "pulleys" on occasion in the literature.

Definition at line 68 of file humanHand.h.

Constructor & Destructor Documentation

TendonInsertionPoint::TendonInsertionPoint	(	Tendon *	myOwner,
		int	chain,
		int	link,
		vec3	point,
		double	mu,
		bool	isPerm = `true`
	)

Definition at line 78 of file humanHand.cpp.

Member Function Documentation

void TendonInsertionPoint::createConnectorGeometry ( ) [private]

Definition at line 154 of file humanHand.cpp.

void TendonInsertionPoint::createInsertionGeometry ( ) [private]

Definition at line 120 of file humanHand.cpp.

Link * TendonInsertionPoint::getAttachedLink ( )

Use this function to get the link the insertion point is attached to.

Handles the case where tendon is attached to base correctly

Use this function to get the link the insertion point is attached to. If chain is -1 this means it is attached to the base of the robot this function will handle this correctly.

Definition at line 101 of file humanHand.cpp.

vec3 TendonInsertionPoint::getAttachPoint ( ) const [inline]

Definition at line 118 of file humanHand.h.

SoSeparator* TendonInsertionPoint::getIVConnector ( ) [inline]

Definition at line 134 of file humanHand.h.

SoCylinder* TendonInsertionPoint::getIVConnectorGeom ( ) [inline]

Definition at line 137 of file humanHand.h.

SoMaterial* TendonInsertionPoint::getIVConnectorMaterial ( ) [inline]

Definition at line 135 of file humanHand.h.

SoTransform* TendonInsertionPoint::getIVConnectorTran ( ) [inline]

Definition at line 136 of file humanHand.h.

SoSeparator* TendonInsertionPoint::getIVInsertion ( ) [inline]