PyLink Class Reference

#include <PyLink.h>

Inheritance diagram for PyLink:

Public Member Functions
PyLink *	addChildLink (std::string name)
PyShape *	addCube (double x, double y, double z)
void	addShapeFromFile (std::string url)
PyObject *	getAngVel ()
PyObject *	getChildren ()
PyObject *	getCoM ()
PyObject *	getInertia ()
int	getJointId ()
std::string	getJointType ()
PyObject *	getLinVel ()
PyLink *	getParent ()
PyObject *	getPosition ()
double	getPosture ()
PyObject *	getRelPosition ()
PyObject *	getRelRotation ()
PyObject *	getRotation ()
PyObject *	getRotationAxis ()
PyObject *	getTranslationAxis ()
	PyLink ()
void	setAngVel (PyObject *v)
void	setCoM (PyObject *v)
void	setInertia (PyObject *v)
void	setJointId (int id)
void	setJointType (std::string type)
void	setLinVel (PyObject *v)
void	setPosition (PyObject *v)
void	setPosture (double)
void	setRelPosition (PyObject *v)
void	setRelRotation (PyObject *v)
void	setRotation (PyObject *v)
void	setRotationAxis (PyObject *v)
void	setTranslationAxis (PyObject *v)
PyObject *	shapes ()
	~PyLink ()
Public Member Functions inherited from GLlink
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])

Private Member Functions
void	notifyChanged ()

Additional Inherited Members
Public Types inherited from GLlink
enum	{ DM_SOLID, DM_WIREFRAME, DM_COLLISION, DM_NUM }
Public Types inherited from hrp::Link
typedef std::vector< ConstraintForce >	ConstraintForceArray
enum	JointType
Static Public Member Functions inherited from GLlink
static int	drawMode ()
static void	drawMode (int i_mode)
static void	useAbsTransformToDraw ()
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
Protected Attributes inherited from GLlink
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 inherited from GLlink
static int	m_drawMode = GLlink::DM_SOLID
static bool	m_useAbsTransformToDraw = false

Detailed Description

Definition at line 9 of file PyLink.h.

Constructor & Destructor Documentation

PyLink::PyLink

(

)

Definition at line 11 of file PyLink.cpp.

PyLink::~PyLink

(

)

Definition at line 15 of file PyLink.cpp.

Member Function Documentation

PyLink * PyLink::addChildLink

(

std::string

name

)

Definition at line 213 of file PyLink.cpp.

PyShape * PyLink::addCube	(	double	x,
		double	y,
		double	z
	)

Definition at line 244 of file PyLink.cpp.

void PyLink::addShapeFromFile

(

std::string

url

)

Definition at line 223 of file PyLink.cpp.

PyObject * PyLink::getAngVel

(

)

Definition at line 200 of file PyLink.cpp.

PyObject * PyLink::getChildren

(

)

Definition at line 257 of file PyLink.cpp.

PyObject * PyLink::getCoM

(

)

Definition at line 128 of file PyLink.cpp.

PyObject * PyLink::getInertia

(

)

Definition at line 168 of file PyLink.cpp.

int PyLink::getJointId

(

)

Definition at line 308 of file PyLink.cpp.

std::string PyLink::getJointType

(

)

Definition at line 283 of file PyLink.cpp.

PyObject * PyLink::getLinVel

(

)

Definition at line 187 of file PyLink.cpp.

PyLink * PyLink::getParent

(

)

Definition at line 252 of file PyLink.cpp.

PyObject * PyLink::getPosition

(

)

Definition at line 20 of file PyLink.cpp.

double PyLink::getPosture

(

)

Definition at line 116 of file PyLink.cpp.

PyObject * PyLink::getRelPosition

(

)

Definition at line 66 of file PyLink.cpp.

PyObject * PyLink::getRelRotation

(

)

Definition at line 86 of file PyLink.cpp.

PyObject * PyLink::getRotation

(

)

Definition at line 34 of file PyLink.cpp.

PyObject * PyLink::getRotationAxis

(

)

Definition at line 141 of file PyLink.cpp.

PyObject * PyLink::getTranslationAxis

(

)

Definition at line 155 of file PyLink.cpp.

void PyLink::notifyChanged ( )

private

Definition at line 181 of file PyLink.cpp.

void PyLink::setAngVel

(

PyObject *

v

)

Definition at line 207 of file PyLink.cpp.

void PyLink::setCoM

(

PyObject *

v

)

Definition at line 135 of file PyLink.cpp.

void PyLink::setInertia

(

PyObject *

v

)

Definition at line 175 of file PyLink.cpp.

void PyLink::setJointId

(

int

id

)

Definition at line 313 of file PyLink.cpp.

void PyLink::setJointType

(

std::string

type

)

Definition at line 268 of file PyLink.cpp.

void PyLink::setLinVel

(

PyObject *

v

)

Definition at line 194 of file PyLink.cpp.

void PyLink::setPosition

(

PyObject *

v

)

Definition at line 27 of file PyLink.cpp.

void PyLink::setPosture

(

double

v

)

Definition at line 121 of file PyLink.cpp.

void PyLink::setRelPosition

(

PyObject *

v

)

Definition at line 73 of file PyLink.cpp.

void PyLink::setRelRotation

(

PyObject *

v

)

Definition at line 93 of file PyLink.cpp.

void PyLink::setRotation

(

PyObject *

v

)

Definition at line 42 of file PyLink.cpp.

void PyLink::setRotationAxis

(

PyObject *

v

)

Definition at line 149 of file PyLink.cpp.

void PyLink::setTranslationAxis

(

PyObject *

v

)

Definition at line 162 of file PyLink.cpp.

PyObject * PyLink::shapes

(

)

Definition at line 299 of file PyLink.cpp.

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

• PyLink.h
• PyLink.cpp