#include <GLlink.h>

Inheritance diagram for GLlink:

Public Types
enum	{ DM_SOLID, DM_WIREFRAME, DM_COLLISION, DM_NUM }

Public Types inherited from hrp::Link
typedef std::vector< ConstraintForce >	ConstraintForceArray

enum	JointType

Public Member Functions
void	addCamera (GLcamera *camera)

void	addChild (GLlink *i_child)

void	addShape (GLshape *shape)

const std::vector< GLcamera * > &	cameras ()

void	computeAABB (hrp::Vector3 &o_min, hrp::Vector3 &o_max)

void	computeAbsTransform ()

void	computeAbsTransform (double o_trans[16])

void	computeAbsTransform (double o_trans[16])

void	divideLargeTriangles (double maxEdgeLen)

size_t	draw ()

void	draw ()

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

virtual const aabbox3d< f32 > &	getBoundingBox () const

	GLlink ()

	GLlink (const OpenHRP::LinkInfo &i_li, OpenHRP::BodyInfo_var i_binfo)

	GLlink (ISceneNode i_parent, ISceneManager i_mgr, s32 i_id, const LinkInfo &i_li, BodyInfo_var i_binfo)

void	highlight (bool flag)

int	jointId ()

int	jointId () const

virtual void	render ()

void	setAbsTransform (double o_trans[16])

void	setParent (GLlink *i_parent)

void	setQ (double i_q)

void	setQ (double i_q)

void	setQ (double i_q)

void	setTransform (double i_trans[16])

void	showAxes (bool flag)

	~GLlink ()

Public Member Functions inherited from hrp::Link
void	addChild (Link *link)

Matrix33	attitude ()

Matrix33	calcRfromAttitude (const Matrix33 &R)

void	calcSubMassCM ()

void	calcSubMassInertia (Matrix33 &subIw)

bool	detachChild (Link *link)

bool	isRoot ()

bool	isValid ()

	Link ()

	Link (const Link &link)

Matrix33	segmentAttitude ()

void	setAttitude (const Matrix33 &R)

void	setSegmentAttitude (const Matrix33 &R)

void	updateColdetModelPosition ()

virtual	~Link ()

Public Member Functions inherited from GLcoordinates
hrp::Vector3	getPosition ()

void	getPosition (double &x, double &y, double &z)

hrp::Matrix33	getRotation ()

void	getRotation (hrp::Matrix33 &R)

double *	getTransform ()

	GLcoordinates ()

void	setPosition (double x, double y, double z)

template<class T >
void	setPosition (const T &p)

void	setRotation (double r, double p, double y)

void	setRotation (double ax, double ay, double az, double th)

void	setRotation (const hrp::Matrix33 &R)

void	setRotation (const double *R)

void	setTransform (const double i_trans[12])

Static Public Member Functions
static int	drawMode ()

static void	drawMode (int i_mode)

static void	useAbsTransformToDraw ()

Protected Attributes
double	m_absTrans [16]

std::vector< GLcamera * >	m_cameras

bool	m_highlight

std::vector< GLshape * >	m_shapes

bool	m_showAxes

double	m_T_j [16]

Protected Attributes inherited from GLcoordinates
double	m_trans [16]

Static Protected Attributes
static int	m_drawMode = GLlink::DM_SOLID

static bool	m_useAbsTransformToDraw = false

Private Attributes
hrp::Vector3	m_axis

Vector3	m_axis

aabbox3d< f32 >	m_box

std::vector< GLcamera * >	m_cameraInfos

std::vector< GLlink * >	m_children

int	m_jointId

int	m_list

GLlink *	m_parent

double	m_trans [16]

Additional Inherited Members
Public Attributes inherited from hrp::Link
Vector3	a

Vector3	b

Body *	body

Vector3	c

Link *	child

double	climit

ColdetModelPtr	coldetModel

ConstraintForceArray	constraintForces

Vector3	cv

Vector3	cw

Vector3	d

double	dd

double	ddq

double	defaultJointValue

double	dq

Vector3	dv

Vector3	dvo

Vector3	dw

double	encoderPulse

Vector3	fext

	FIXED_JOINT

	FREE_JOINT

double	gearEfficiency

double	gearRatio

Vector3	hhv

Vector3	hhw

Matrix33	I

int	index

double	Ir

bool	isCrawler

bool	isHighGainMode

Matrix33	Ivv

Matrix33	Iwv

Matrix33	Iww

double	Jm2

int	jointId

JointType	jointType

std::vector< Light * >	lights

double	llimit

double	lvlimit

double	m

std::string	name

Vector3	p

Link *	parent

Vector3	pf

Vector3	ptau

double	q

Matrix33	R

	ROTATIONAL_JOINT

double	rotorResistor

Matrix33	Rs

std::vector< Sensor * >	sensors

Link *	sibling

	SLIDE_JOINT

double	subm

Vector3	submwc

Vector3	sv

Vector3	sw

Vector3	tauext

double	torqueConst

double	u

double	ulimit

double	uu

double	uvlimit

Vector3	v

Vector3	vo

Vector3	w

Vector3	wc

Detailed Description

Definition at line 17 of file GLlink.h.

Member Enumeration Documentation

anonymous enum

Enumerator
DM_SOLID
DM_WIREFRAME
DM_COLLISION
DM_NUM

Definition at line 20 of file GLlink.h.

Constructor & Destructor Documentation

GLlink::GLlink ( )

Definition at line 27 of file GLlink.cpp.

GLlink::~GLlink ( )

Definition at line 34 of file GLlink.cpp.

GLlink::GLlink	(	const OpenHRP::LinkInfo &	i_li,
		OpenHRP::BodyInfo_var	i_binfo
	)

GLlink::GLlink	(	ISceneNode *	i_parent,
		ISceneManager *	i_mgr,
		s32	i_id,
		const LinkInfo &	i_li,
		BodyInfo_var	i_binfo
	)

inline

Definition at line 108 of file IrrModel.cpp.

Member Function Documentation

void GLlink::addCamera ( GLcamera * camera )

Definition at line 241 of file GLlink.cpp.

void GLlink::addChild ( GLlink * i_child )

Definition at line 199 of file GLmodel.cpp.

void GLlink::addShape ( GLshape * shape )

Definition at line 236 of file GLlink.cpp.

const std::vector< GLcamera * > & GLlink::cameras ( )

Definition at line 256 of file GLlink.cpp.

void GLlink::computeAABB	(	hrp::Vector3 &	o_min,
		hrp::Vector3 &	o_max
	)

Definition at line 289 of file GLlink.cpp.

void GLlink::computeAbsTransform ( )

Definition at line 217 of file GLlink.cpp.

void GLlink::computeAbsTransform ( double o_trans[16] )

Definition at line 221 of file GLlink.cpp.

void GLlink::computeAbsTransform ( double o_trans[16] )

void GLlink::divideLargeTriangles ( double maxEdgeLen )

Definition at line 282 of file GLlink.cpp.

void GLlink::draw ( )

Definition at line 44 of file GLlink.cpp.

void GLlink::draw ( )

int GLlink::drawMode ( )

static

Definition at line 261 of file GLlink.cpp.

void GLlink::drawMode ( int i_mode )

static

Definition at line 266 of file GLlink.cpp.

GLcamera * GLlink::findCamera ( const char * i_name )

Definition at line 209 of file GLlink.cpp.

GLcamera* GLlink::findCamera ( const char * i_name )

inline

Definition at line 323 of file IrrModel.cpp.

virtual const aabbox3d<f32>& GLlink::getBoundingBox ( ) const

inlinevirtual

Definition at line 313 of file IrrModel.cpp.

void GLlink::highlight ( bool flag )

Definition at line 271 of file GLlink.cpp.

int GLlink::jointId ( )

Definition at line 219 of file GLmodel.cpp.

int GLlink::jointId ( ) const

inline

Definition at line 322 of file IrrModel.cpp.

virtual void GLlink::render ( )

inlinevirtual

Definition at line 312 of file IrrModel.cpp.

void GLlink::setAbsTransform ( double o_trans[16] )

Definition at line 205 of file GLlink.cpp.

void GLlink::setParent ( GLlink * i_parent )

Definition at line 195 of file GLmodel.cpp.

void GLlink::setQ ( double i_q )

Definition at line 169 of file GLlink.cpp.

void GLlink::setQ ( double i_q )

inline

Definition at line 314 of file IrrModel.cpp.

void GLlink::setTransform ( double i_trans[16] )

Definition at line 215 of file GLmodel.cpp.

void GLlink::showAxes ( bool flag )

Definition at line 246 of file GLlink.cpp.

void GLlink::useAbsTransformToDraw ( )

static

Definition at line 22 of file GLlink.cpp.

Member Data Documentation

double GLlink::m_absTrans[16]

protected

Definition at line 46 of file GLlink.h.

hrp::Vector3 GLlink::m_axis

private

Definition at line 56 of file GLmodel.h.

Vector3 GLlink::m_axis

private

Definition at line 331 of file IrrModel.cpp.

aabbox3d<f32> GLlink::m_box

private

Definition at line 330 of file IrrModel.cpp.

std::vector<GLcamera *> GLlink::m_cameraInfos

private

Definition at line 333 of file IrrModel.cpp.

std::vector< GLcamera * > GLlink::m_cameras

protected

Definition at line 45 of file GLlink.h.

std::vector<GLlink *> GLlink::m_children

private

Definition at line 54 of file GLmodel.h.

int GLlink::m_drawMode = GLlink::DM_SOLID

staticprotected

Definition at line 44 of file GLlink.h.

bool GLlink::m_highlight

protected

Definition at line 48 of file GLlink.h.

int GLlink::m_jointId

private

Definition at line 58 of file GLmodel.h.

int GLlink::m_list

private

Definition at line 58 of file GLmodel.h.

GLlink* GLlink::m_parent

private

Definition at line 53 of file GLmodel.h.

std::vector<GLshape *> GLlink::m_shapes

protected

Definition at line 47 of file GLlink.h.

bool GLlink::m_showAxes

protected

Definition at line 48 of file GLlink.h.

double GLlink::m_T_j

protected

Definition at line 46 of file GLlink.h.

double GLlink::m_trans[16]

private

Definition at line 57 of file GLmodel.h.

bool GLlink::m_useAbsTransformToDraw = false

staticprotected

Definition at line 43 of file GLlink.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation