Inheritance diagram for com.generalrobotix.ui.item.GrxLinkItem:

Public Member Functions
Vector3d	absCoM ()
	compute CoM in global frame
Transform3D	absTransform ()
void	absTransform (double[] p, double[] R)
void	addLink (String name)
	create and add a new link as a child
void	addLink (GrxLinkItem child)
	add a child link
void	addRobot (File f)
	load and add a new robot as a child
void	addSegment (String name)
	create and add a new sensor as a child
void	addSensor (String name)
	create and add a new sensor as a child
void	addSensor (GrxSensorItem sensor)
	add a sensor as a child
void	calcForwardKinematics ()
	compute forward kinematics
boolean	centerOfMass (double[] com)
	set CoM position
void	centerOfMass (String value)
	set CoM position from string
void	clearAABB ()
GrxLinkItem	clone ()
	Override clone method.
void	delete ()
void	encoderPulse (double e)
void	encoderPulse (String e)
void	gearRatio (double r)
void	gearRatio (String g)
ValueEditType	GetValueEditType (String key)
	Return editing type of the key item.
boolean	inertia (double[] newI)
	set inertia matrix
void	inertia (String i)
void	jointAxis (double[] newAxis)
	set joint axis
void	jointId (short id)
	set joint id
void	jointId (String value)
void	jointType (String type)
	set joint type
void	jointValue (double jv)
	set new joint value
boolean	jointValue (String value)
	set joint value from string
void	llimit (double[] l)
void	llimit (String l)
double[]	localRotation ()
boolean	localRotation (double[] rot)
boolean	localRotation (String value)
double[]	localTranslation ()
boolean	localTranslation (double[] pos)
boolean	localTranslation (String value)
void	lvlimit (double[] lv)
void	lvlimit (String lv)
void	makeAABB (ShapeInfo shape, double[] T)
void	mass (double m)
	set mass from string
boolean	mass (String value)
void	modifyCenterOfMass ()
void	modifyInertia ()
void	modifyMass ()
boolean	propertyChanged (String property, String value)
	check validity of new value of property and update if valid
void	removeSensor (GrxSensorItem sensor)
void	rename (String newName)
	rename this Link
void	restoreColor ()
void	rotorInertia (double r)
void	rotorResistor (double r)
void	rotorResistor (String r)
void	setColor (java.awt.Color color)
void	setFocused (boolean b)
	set/unset fucus on this item
void	setJointValuesWithinLimit ()
	limit joint value within limits recursively
void	setTransform (Vector3d pos, Matrix3d rot)
	set new position and rotation in global frame
void	setTransform (Transform3D trans)
	set new position and rotation in global frame
void	setVisibleAABB (boolean b)
void	torqueConst (double t)
void	torqueConst (String t)
void	ulimit (double[] u)
void	ulimit (String u)
void	uvlimit (double[] uv)
void	uvlimit (String uv)
Public Attributes
short[]	childIndices_
	子リンクインデックス列
double	encoderPulse_
double	gearRatio_
double[]	jointAxis_
short	jointId_
String	jointType_
double	jointValue_
double	linkMass_
double[]	llimit_
short	parentIndex_
double	rotorInertia_
double	rotorResistor_
double	torqueConst_
double[]	ulimit_
Protected Member Functions
	GrxLinkItem (String name, GrxPluginManager manager, GrxModelItem model)
	GrxLinkItem (String name, GrxPluginManager manager, GrxModelItem model, LinkInfo info)
Package Functions
void	jointAxis (String axis)
Private Member Functions
void	_init ()
	common initialization
void	_initMenu ()
	initialize menu
void	_updateScaleOfBall ()
void	updateAxis ()
Private Attributes
short	AABBmaxNum_
double[]	linkCenterOfMass_
double[]	linkInertia_
double[]	lvlimit_
double[]	rotation_ = {0,1,0,0}
Switch	switchAABB_
Switch	switchAxis_
Switch	switchCom_
TransformGroup	tgCom_
double[]	translation_ = {0,0,0}
double[]	uvlimit_

Detailed Description

Definition at line 68 of file GrxLinkItem.java.

Constructor & Destructor Documentation

com.generalrobotix.ui.item.GrxLinkItem.GrxLinkItem	(	String	name,
		GrxPluginManager	manager,
		GrxModelItem	model
	)		`[inline, protected]`

Definition at line 664 of file GrxLinkItem.java.

com.generalrobotix.ui.item.GrxLinkItem.GrxLinkItem	(	String	name,
		GrxPluginManager	manager,
		GrxModelItem	model,
		LinkInfo	info
	)		`[inline, protected]`

Parameters:

info	link information retrieved through ModelLoader

Definition at line 693 of file GrxLinkItem.java.

Member Function Documentation

void com.generalrobotix.ui.item.GrxLinkItem._init ( ) [inline, private]

common initialization

Definition at line 882 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem._initMenu ( ) [inline, private]

initialize menu

Definition at line 755 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem._updateScaleOfBall ( ) [inline, private]

Definition at line 515 of file GrxLinkItem.java.

Vector3d com.generalrobotix.ui.item.GrxLinkItem.absCoM ( ) [inline]

compute CoM in global frame

Returns:: computed CoM

Definition at line 510 of file GrxLinkItem.java.

Transform3D com.generalrobotix.ui.item.GrxLinkItem.absTransform ( ) [inline]

Definition at line 98 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.absTransform	(	double[]	p,
		double[]	R
	)		`[inline]`

Definition at line 112 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addLink ( String name ) [inline]

create and add a new link as a child

Parameters:

name	name of the new link

Definition at line 430 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addLink ( GrxLinkItem child ) [inline]

add a child link

Parameters:

child child link

Definition at line 447 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addRobot ( File f ) [inline]

load and add a new robot as a child

Parameters:

f	file name of the new robot

Definition at line 502 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addSegment ( String name ) [inline]

create and add a new sensor as a child

Parameters:

name	name of the new sensor

Definition at line 472 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addSensor ( String name ) [inline]

create and add a new sensor as a child

Parameters:

name	name of the new sensor

Definition at line 458 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.addSensor ( GrxSensorItem sensor ) [inline]

add a sensor as a child

Parameters:

sensor sensor

Definition at line 486 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.calcForwardKinematics ( ) [inline]

compute forward kinematics

Definition at line 616 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.centerOfMass ( double[] com ) [inline]

set CoM position

Parameters:

com	CoM position(length=3)

Returns:: true if set successfully, false otherwise

Definition at line 218 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.centerOfMass ( String value ) [inline]

set CoM position from string

Parameters:

value space separated array of double(length=3)

Definition at line 237 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.clearAABB ( ) [inline]

Definition at line 1063 of file GrxLinkItem.java.

GrxLinkItem com.generalrobotix.ui.item.GrxLinkItem.clone ( ) [inline]

Override clone method.

Returns:: GrxLinkItem

Reimplemented from com.generalrobotix.ui.GrxBaseItem.

Definition at line 940 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.delete ( ) [inline]

delete this link and children

Reimplemented from com.generalrobotix.ui.item.GrxTransformItem.

Definition at line 1026 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.encoderPulse ( double e ) [inline]

Definition at line 336 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.encoderPulse ( String e ) [inline]

Definition at line 342 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.gearRatio ( double r ) [inline]

Definition at line 324 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.gearRatio ( String g ) [inline]

Definition at line 330 of file GrxLinkItem.java.

ValueEditType com.generalrobotix.ui.item.GrxLinkItem.GetValueEditType ( String key ) [inline]

Return editing type of the key item.

Returns:: ValueEditType

Reimplemented from com.generalrobotix.ui.GrxBasePlugin.

Definition at line 1139 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.inertia ( double[] newI ) [inline]

set inertia matrix

Parameters:

newI	inertia matrix(length=9)

Returns:: true if set successfully, false otherwise

Definition at line 196 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.inertia ( String i ) [inline]

Definition at line 207 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointAxis ( double[] newAxis ) [inline]

set joint axis

Parameters:

axis	axis of this joint. it must be one of "X", "Y" and "Z"

Definition at line 247 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointAxis ( String axis ) [inline, package]

Definition at line 258 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointId ( short id ) [inline]

set joint id

Returns:: joint id

Definition at line 268 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointId ( String value ) [inline]

set joint id from string

Parameters:

value string

Definition at line 278 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointType ( String type ) [inline]

set joint type

Parameters:

type	type of this joint. It must be one of "fixed", "free", "rotate" and "slide"

Definition at line 310 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.jointValue ( double jv ) [inline]

set new joint value

Parameters:

jv	joint value

Definition at line 171 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.jointValue ( String value ) [inline]

set joint value from string

Parameters:

value joint value

Returns:: true if set successfully, false otherwise

Definition at line 181 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.llimit ( double[] l ) [inline]

Definition at line 390 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.llimit ( String l ) [inline]

Definition at line 396 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.localRotation ( ) [inline]

Definition at line 108 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.localRotation ( double[] rot ) [inline]

Definition at line 141 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.localRotation ( String value ) [inline]

Definition at line 158 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.localTranslation ( ) [inline]

Definition at line 104 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.localTranslation ( double[] pos ) [inline]

Definition at line 124 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.localTranslation ( String value ) [inline]

Definition at line 132 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.lvlimit ( double[] lv ) [inline]

Definition at line 414 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.lvlimit ( String lv ) [inline]

Definition at line 420 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.makeAABB	(	ShapeInfo	shape,
		double[]	T
	)		`[inline]`

Definition at line 1067 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.mass ( double m ) [inline]

set mass from string

Parameters:

value mass

Definition at line 289 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.mass ( String value ) [inline]

Definition at line 296 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.modifyCenterOfMass ( ) [inline]

Definition at line 1164 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.modifyInertia ( ) [inline]

Definition at line 1187 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.modifyMass ( ) [inline]

Definition at line 1151 of file GrxLinkItem.java.

boolean com.generalrobotix.ui.item.GrxLinkItem.propertyChanged	(	String	property,
		String	value
	)		`[inline]`

check validity of new value of property and update if valid

Parameters:

property	name of property
value	value of property

Returns:: true if checked(even if value is not used), false otherwise

Reimplemented from com.generalrobotix.ui.GrxBasePlugin.

Definition at line 535 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.removeSensor ( GrxSensorItem sensor ) [inline]

Definition at line 491 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.rename ( String newName ) [inline]

rename this Link

Parameters:

newName new name

Reimplemented from com.generalrobotix.ui.GrxBasePlugin.

Definition at line 1117 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.restoreColor ( ) [inline]

Definition at line 1045 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.rotorInertia ( double r ) [inline]

Definition at line 348 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.rotorResistor ( double r ) [inline]

Definition at line 354 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.rotorResistor ( String r ) [inline]

Definition at line 360 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setColor ( java.awt.Color color ) [inline]

Definition at line 1031 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setFocused ( boolean b ) [inline]

set/unset fucus on this item

When this item is focused, some geometries are displayed

Parameters:

b	true to fucus, false to unfocus

Reimplemented from com.generalrobotix.ui.item.GrxTransformItem.

Definition at line 1007 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setJointValuesWithinLimit ( ) [inline]

limit joint value within limits recursively

Definition at line 986 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setTransform	(	Vector3d	pos,
		Matrix3d	rot
	)		`[inline]`

set new position and rotation in global frame

Parameters:

pos	new position
rot	new rotation

Definition at line 954 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setTransform ( Transform3D trans ) [inline]

set new position and rotation in global frame

Parameters:

tform new transform

Definition at line 976 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.setVisibleAABB ( boolean b ) [inline]

Definition at line 1059 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.torqueConst ( double t ) [inline]

Definition at line 366 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.torqueConst ( String t ) [inline]

Definition at line 372 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.ulimit ( double[] u ) [inline]

Definition at line 378 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.ulimit ( String u ) [inline]

Definition at line 384 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.updateAxis ( ) [inline, private]

Definition at line 920 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.uvlimit ( double[] uv ) [inline]

Definition at line 402 of file GrxLinkItem.java.

void com.generalrobotix.ui.item.GrxLinkItem.uvlimit ( String uv ) [inline]

Definition at line 408 of file GrxLinkItem.java.

Member Data Documentation

short com.generalrobotix.ui.item.GrxLinkItem.AABBmaxNum_ [private]

Definition at line 90 of file GrxLinkItem.java.

short [] com.generalrobotix.ui.item.GrxLinkItem.childIndices_

子リンクインデックス列

Definition at line 89 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.encoderPulse_

Definition at line 86 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.gearRatio_

Definition at line 84 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.jointAxis_

Definition at line 74 of file GrxLinkItem.java.

short com.generalrobotix.ui.item.GrxLinkItem.jointId_

Definition at line 71 of file GrxLinkItem.java.

String com.generalrobotix.ui.item.GrxLinkItem.jointType_

Definition at line 72 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.jointValue_

Definition at line 73 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.linkCenterOfMass_ [private]

Definition at line 80 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.linkInertia_ [private]

Definition at line 81 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.linkMass_

Definition at line 79 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.llimit_

Definition at line 76 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.lvlimit_ [private]

Definition at line 78 of file GrxLinkItem.java.

short com.generalrobotix.ui.item.GrxLinkItem.parentIndex_

Definition at line 88 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.rotation_ = {0,1,0,0} [private]

Definition at line 70 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.rotorInertia_

Definition at line 82 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.rotorResistor_

Definition at line 83 of file GrxLinkItem.java.

Switch com.generalrobotix.ui.item.GrxLinkItem.switchAABB_ [private]

Definition at line 96 of file GrxLinkItem.java.

Switch com.generalrobotix.ui.item.GrxLinkItem.switchAxis_ [private]

Definition at line 95 of file GrxLinkItem.java.

Switch com.generalrobotix.ui.item.GrxLinkItem.switchCom_ [private]

Definition at line 93 of file GrxLinkItem.java.

TransformGroup com.generalrobotix.ui.item.GrxLinkItem.tgCom_ [private]

Definition at line 94 of file GrxLinkItem.java.

double com.generalrobotix.ui.item.GrxLinkItem.torqueConst_

Definition at line 85 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.translation_ = {0,0,0} [private]

Definition at line 69 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.ulimit_

Definition at line 75 of file GrxLinkItem.java.

double [] com.generalrobotix.ui.item.GrxLinkItem.uvlimit_ [private]

Definition at line 77 of file GrxLinkItem.java.

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

GrxLinkItem.java

Public Member Functions

Public Attributes

Protected Member Functions

Package Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation