Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | Static Protected Attributes | Private Attributes | List of all members
GLlink Class Reference

#include <GLlink.h>

Inheritance diagram for GLlink:
Inheritance graph
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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

anonymous enum
Enumerator
DM_SOLID 
DM_WIREFRAME 
DM_COLLISION 
DM_NUM 

Definition at line 20 of file GLlink.h.

Constructor & Destructor Documentation

◆ GLlink() [1/3]

GLlink::GLlink ( )

Definition at line 27 of file GLlink.cpp.

◆ ~GLlink()

GLlink::~GLlink ( )

Definition at line 34 of file GLlink.cpp.

◆ GLlink() [2/3]

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

◆ GLlink() [3/3]

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

◆ addCamera()

void GLlink::addCamera ( GLcamera *  camera)

Definition at line 241 of file GLlink.cpp.

◆ addChild()

void GLlink::addChild ( GLlink *  i_child)

Definition at line 199 of file GLmodel.cpp.

◆ addShape()

void GLlink::addShape ( GLshape *  shape)

Definition at line 236 of file GLlink.cpp.

◆ cameras()

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

Definition at line 256 of file GLlink.cpp.

◆ computeAABB()

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

Definition at line 289 of file GLlink.cpp.

◆ computeAbsTransform() [1/3]

void GLlink::computeAbsTransform ( )

Definition at line 217 of file GLlink.cpp.

◆ computeAbsTransform() [2/3]

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

Definition at line 221 of file GLlink.cpp.

◆ computeAbsTransform() [3/3]

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

◆ divideLargeTriangles()

void GLlink::divideLargeTriangles ( double  maxEdgeLen)

Definition at line 282 of file GLlink.cpp.

◆ draw() [1/2]

void GLlink::draw ( )

Definition at line 44 of file GLlink.cpp.

◆ draw() [2/2]

void GLlink::draw ( )

◆ drawMode() [1/2]

int GLlink::drawMode ( )
static

Definition at line 261 of file GLlink.cpp.

◆ drawMode() [2/2]

void GLlink::drawMode ( int  i_mode)
static

Definition at line 266 of file GLlink.cpp.

◆ findCamera() [1/3]

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

Definition at line 209 of file GLlink.cpp.

◆ findCamera() [2/3]

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

◆ findCamera() [3/3]

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

Definition at line 323 of file IrrModel.cpp.

◆ getBoundingBox()

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

Definition at line 313 of file IrrModel.cpp.

◆ highlight()

void GLlink::highlight ( bool  flag)

Definition at line 271 of file GLlink.cpp.

◆ jointId() [1/2]

int GLlink::jointId ( )

Definition at line 219 of file GLmodel.cpp.

◆ jointId() [2/2]

int GLlink::jointId ( ) const
inline

Definition at line 322 of file IrrModel.cpp.

◆ render()

virtual void GLlink::render ( )
inlinevirtual

Definition at line 312 of file IrrModel.cpp.

◆ setAbsTransform()

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

Definition at line 205 of file GLlink.cpp.

◆ setParent()

void GLlink::setParent ( GLlink *  i_parent)

Definition at line 195 of file GLmodel.cpp.

◆ setQ() [1/3]

void GLlink::setQ ( double  i_q)

Definition at line 169 of file GLlink.cpp.

◆ setQ() [2/3]

void GLlink::setQ ( double  i_q)

◆ setQ() [3/3]

void GLlink::setQ ( double  i_q)
inline

Definition at line 314 of file IrrModel.cpp.

◆ setTransform()

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

Definition at line 215 of file GLmodel.cpp.

◆ showAxes()

void GLlink::showAxes ( bool  flag)

Definition at line 246 of file GLlink.cpp.

◆ useAbsTransformToDraw()

void GLlink::useAbsTransformToDraw ( )
static

Definition at line 22 of file GLlink.cpp.

Member Data Documentation

◆ m_absTrans

double GLlink::m_absTrans[16]
protected

Definition at line 46 of file GLlink.h.

◆ m_axis [1/2]

hrp::Vector3 GLlink::m_axis
private

Definition at line 56 of file GLmodel.h.

◆ m_axis [2/2]

Vector3 GLlink::m_axis
private

Definition at line 331 of file IrrModel.cpp.

◆ m_box

aabbox3d<f32> GLlink::m_box
private

Definition at line 330 of file IrrModel.cpp.

◆ m_cameraInfos

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

Definition at line 333 of file IrrModel.cpp.

◆ m_cameras

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

Definition at line 45 of file GLlink.h.

◆ m_children

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

Definition at line 54 of file GLmodel.h.

◆ m_drawMode

int GLlink::m_drawMode = GLlink::DM_SOLID
staticprotected

Definition at line 44 of file GLlink.h.

◆ m_highlight

bool GLlink::m_highlight
protected

Definition at line 48 of file GLlink.h.

◆ m_jointId

int GLlink::m_jointId
private

Definition at line 58 of file GLmodel.h.

◆ m_list

int GLlink::m_list
private

Definition at line 58 of file GLmodel.h.

◆ m_parent

GLlink* GLlink::m_parent
private

Definition at line 53 of file GLmodel.h.

◆ m_shapes

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

Definition at line 47 of file GLlink.h.

◆ m_showAxes

bool GLlink::m_showAxes
protected

Definition at line 48 of file GLlink.h.

◆ m_T_j

double GLlink::m_T_j
protected

Definition at line 46 of file GLlink.h.

◆ m_trans

double GLlink::m_trans[16]
private

Definition at line 57 of file GLmodel.h.

◆ m_useAbsTransformToDraw

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:

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22