Classes | Public Member Functions | Public Attributes | Static Public Attributes | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
com.generalrobotix.ui.item.GrxModelItem Class Reference

item corresponds to a robot model More...

Inheritance diagram for com.generalrobotix.ui.item.GrxModelItem:
Inheritance graph
[legend]

Classes

class  MenuChangeType
 
class  NormalRender
 

Public Member Functions

void addLink (GrxLinkItem link)
 add a link More...
 
void addRobot (File f, GrxLinkItem parentLink)
 load and add a new robot as a child More...
 
void calcForwardKinematics ()
 compute forward kinematics More...
 
void cancelModified ()
 
int checkModifiedModel (boolean reload)
 
GrxModelItem clone ()
 Override clone method. More...
 
boolean create ()
 create a new model More...
 
void delete ()
 
BodyInfo getBodyInfo ()
 get BodyInfo More...
 
List< Camera_implgetCameraSequence ()
 get sequence of cameras More...
 
void getCoM (Vector3d pos)
 compute center of mass More...
 
int getDOF ()
 
double [] getInitialJointMode ()
 
double [] getInitialJointValues ()
 
double [] getInitialJointVelocity ()
 
double [] getInitialTransformArray (GrxLinkItem link)
 
double [] getInitialVelocity (GrxLinkItem link)
 
String [] getJointNames ()
 
double [] getJointValues ()
 
GrxLinkItem getLink (String name)
 get link from name More...
 
List< GrxModelItemgetSameUrlModels ()
 
String [] getSensorNames (String type)
 
List< GrxSensorItemgetSensors (String type)
 
double [] getTransformArray (GrxLinkItem link)
 get transform of link in array form More...
 
TransformGroup getTransformGroupRoot ()
 
ValueEditType GetValueEditType (String key)
 
 GrxModelItem (String name, GrxPluginManager item)
 constructor More...
 
boolean isModified ()
 
boolean isRobot ()
 
boolean load (File f)
 load a model from file More...
 
void makeAABBforSameUrlModels ()
 
void notifyModified ()
 notify this model is modified More...
 
boolean propertyChanged (String property, String value)
 check validity of new value of property and update if valid More...
 
boolean registerCharacter (BodyInfo bInfo)
 
boolean reload ()
 
void removeExtraJoint (GrxExtraJointItem extraJoint)
 
void removeLink (GrxLinkItem link)
 remove a link More...
 
void rename (String newName)
 rename this Model More...
 
void resizeBoundingBox ()
 resize bounding box which covers the whole body More...
 
void restoreProperties ()
 restore properties More...
 
GrxLinkItem rootLink ()
 get root link More...
 
boolean saveAndLoad ()
 
void setCharacterPos (LinkPosition[] lpos, double[] q)
 set transformation of the root joint and all joint values More...
 
void setFocused (boolean b)
 set/unset focus on this item More...
 
void setJointColor (int jid, java.awt.Color color)
 set color of joint More...
 
void setJointValues (final double[] values)
 set joint values More...
 
void setJointValuesWithinLimit ()
 modify joint value if it exceeds limit values More...
 
void setSelected (boolean b)
 
void setTransformRoot (Vector3d pos, Matrix3d rot)
 set transformation of the root joint More...
 
void setTransformRoot (Transform3D tform)
 set transformation of the root joint More...
 
void setTransparencyMode (boolean b)
 
void setVisibleAABB (boolean b)
 
void setVisibleCoM (boolean b)
 set visibility of CoM More...
 
void setVisibleCoMonFloor (boolean b)
 set visibility of CoM projected on the floor More...
 
void setWireFrame (boolean b)
 switch display mode between fill and line More...
 
void setWireFrame (boolean b, Node node)
 switch display mode between fill and line More...
 
void updateCoM ()
 update CoM and projected CoM positions More...
 
void updateInitialJointValue (GrxLinkItem link)
 update joint value property from current joint value More...
 
void updateInitialJointValues ()
 
void updateInitialTransformRoot ()
 update initial transformation property from current Transform3D More...
 
- Public Member Functions inherited from com.generalrobotix.ui.GrxBaseItem
File chooseSaveFile ()
 
GrxBaseItem clone ()
 Override clone method. More...
 
boolean create ()
 
void delete ()
 delete this item More...
 
File getDefaultDir ()
 get default directory More...
 
String getFileExtention ()
 get file extension More...
 
Object getValue ()
 
boolean load (File file)
 
void paste (String clipVal)
 paste object More...
 
void setValue (Object o)
 
- Public Member Functions inherited from com.generalrobotix.ui.GrxBasePlugin
void addObserver (GrxObserver v)
 
GrxBasePlugin clone ()
 Override clone method. More...
 
void deleteObserver (GrxObserver v)
 
boolean equals (Object obj)
 check whether obj equals to this More...
 
Element getElement ()
 get element More...
 
Image getIcon ()
 get icon More...
 
Vector< Action > getMenu ()
 get menu More...
 
String [] getMenuPath ()
 get menu path More...
 
final String getName ()
 get name More...
 
ArrayList< GrxObservergetObserver ()
 
String getOldName ()
 
Vector< MenuManager > getSubMenu ()
 get subMenu More...
 
String getURL (boolean expand)
 
ValueEditType GetValueEditType (String key)
 Return editing type of the key item. More...
 
boolean isExclusive ()
 check whether this is exclusive or not More...
 
boolean isSelected ()
 check whether this is selected or not More...
 
void notifyObservers (Object... arg)
 
boolean propertyChanged (String property, String value)
 check validity of new value of property and update if valid More...
 
boolean registerCORBA ()
 
void rename (String newName)
 rename this item More...
 
void restoreProperties ()
 restore properties. Called by menu item "restore Properties" More...
 
void setDocument (Document doc)
 set document More...
 
void setElement (Element element)
 set element More...
 
void setExclusive (boolean b)
 set exclusive flag More...
 
void setFocused (boolean b)
 set/unset focus on this plugin More...
 
void setMenuItem (Action a)
 add a menu item More...
 
void setName (String name)
 set name More...
 
Object setProperty (String key, String value)
 set property value associated with a keyword More...
 
void setSelected (boolean b)
 set selected flag More...
 
void setSubMenu (MenuManager m)
 add a submenu More...
 
void setURL (String url)
 set URL property More...
 
void shutdown ()
 
Element storeProperties ()
 store properties More...
 
final String toString ()
 convert to String. Currently, name is returned. More...
 
void unregisterCORBA ()
 
- Public Member Functions inherited from com.generalrobotix.ui.util.GrxConfigBundle
final Double getDbl (String key, Double defaultVal)
 get double value associated to key More...
 
Double getDbl (String value)
 
final double [] getDblAry (String key, double[] defaultVal)
 get double array associated to key More...
 
double [] getDblAry (String value)
 get array of double from String More...
 
final Float getFlt (String key, Float defaultVal)
 get float value associated to key More...
 
final Float getFlt (String value)
 
final float [] getFltAry (String key, float[] defaultVal)
 get float array associated to key More...
 
float [] getFltAry (String value)
 
final Integer getInt (String key, Integer defaultVal)
 get integer value associated to key More...
 
final int [] getIntAry (String key)
 get integer array associated to key More...
 
final Short getShort (String key, Short defaultVal)
 get short value associated to key More...
 
Short getShort (String value)
 
final String getStr (String key)
 get value associated to keyword More...
 
final String getStr (String key, String defaultVal)
 get value associated to key More...
 
 GrxConfigBundle ()
 constructor More...
 
 GrxConfigBundle (String fname) throws IOException
 construct from a file More...
 
final boolean isFalse (String key)
 check whether value associated to key includes a word "false" More...
 
final boolean isFalse (String key, boolean defaultVal)
 check whether value associated to key includes a word "false" More...
 
final boolean isTrue (String key)
 check whether value associated to key includes a word "true" More...
 
final boolean isTrue (String key, boolean defaultVal)
 check whether value associated to key includes a word "true" More...
 
void load (String fname) throws IOException
 load config from a file More...
 
final void setBool (String key, boolean value)
 
final void setDbl (String key, double value)
 associate double value to key More...
 
final void setDbl (String key, double value, int digits)
 associate double value to key More...
 
final void setDblAry (String key, double[] value, int digits)
 associate double array to key More...
 
final void setDblAry (String key, double[] value)
 associate double array to key More...
 
final void setFlt (String key, float value)
 associate float value to key More...
 
final void setFltAry (String key, float[] value)
 associate float array to key More...
 
final void setInt (String key, int value)
 associate int value to key More...
 
final void setShort (String key, short value)
 associate short value to key More...
 
void store (String fname, String comments) throws IOException
 store this config More...
 

Public Attributes

AppearanceInfo [] appearances = null
 
BranchGroup bgRoot_ = new BranchGroup()
 
Vector< GrxExtraJointItemextraJoints_ = new Vector<GrxExtraJointItem>()
 
Vector< GrxLinkItemlinks_ = new Vector<GrxLinkItem>()
 
MaterialInfo [] materials = null
 
Map< String, GrxLinkItemnameToLink_ = new HashMap<String, GrxLinkItem>()
 
ShapeInfo [] shapes = null
 
TextureInfo [] textures = null
 

Static Public Attributes

static final String DEFAULT_DIR = "/../model"
 
static final String FILE_EXTENSION = "*"
 
static final int MODIFIED_NG =1
 
static final int MODIFIED_NOT =2
 
static final int MODIFIED_OK =0
 
static final String TITLE = "Model"
 

Private Member Functions

void _globalToRoot (Vector3d pos)
 convert global position into robot local More...
 
void _initMenu ()
 initialize right-click menu More...
 
void _loadVrmlScene (LinkInfo[] links) throws BadLinkStructureException
 create shapes of links More...
 
boolean _saveAs ()
 save this model as a VRML file More...
 
void _setModelType (String value)
 set model type(robot or environment) from String More...
 
void _setModelType (boolean isRobot)
 set model type(robot or environment) More...
 
void _setTransform (int linkId, Vector3d pos, Matrix3d rot)
 set transformation of linkId th joint More...
 
void _setupMarks ()
 create spheres to display CoM and projected CoM More...
 
void addExtraJoint (String name)
 
void createLink (int index)
 make connections between links and gather cameras More...
 
BodyInfo getBodyInfoFromModelLoader ()
 
boolean load0 (File f)
 
void makeAABB (BodyInfo binfo)
 
boolean registerCharacter ()
 
void sameUrlModelLoad ()
 
void setTransparencyMode (boolean b, Node node)
 

Private Attributes

BodyInfo bInfo_
 
boolean bModified_ = false
 
List< Camera_implcameraList_ = new ArrayList<Camera_impl>()
 
boolean isRobot_ = true
 
int [] jointToLink_
 
Switch switchBb_
 
Switch switchCom_
 
Switch switchComZ0_
 
TransformGroup tgCom_
 
TransformGroup tgComZ0_
 

Static Private Attributes

static final double DEFAULT_RADIUS = 0.05
 
static final String envIcon = "environment.png"
 
static final String robotIcon = "robot.png"
 

Additional Inherited Members

- Static Public Member Functions inherited from com.generalrobotix.ui.GrxBasePlugin
static Object getField (Class<? extends GrxBasePlugin > cls, String field, Object defaultValue)
 get field More...
 
- Protected Member Functions inherited from com.generalrobotix.ui.GrxBaseItem
 GrxBaseItem (String name, GrxPluginManager manager)
 constructor More...
 
void setDefaultDirectory (String dir)
 
void setFileExtension (String ext)
 
- Protected Member Functions inherited from com.generalrobotix.ui.GrxBasePlugin
 GrxBasePlugin (String name, GrxPluginManager manager)
 constructor More...
 
void setIcon (String iconName)
 set icon More...
 
void setMenuPath (String[] path)
 set menu path More...
 
boolean syncExec (Runnable r)
 Transfer SWT UI thread. More...
 
- Protected Attributes inherited from com.generalrobotix.ui.GrxBaseItem
String clipValue_ = ""
 
File file_
 
- Protected Attributes inherited from com.generalrobotix.ui.GrxBasePlugin
Document doc_
 
Element element_
 
GrxPluginManager manager_
 
- Static Protected Attributes inherited from com.generalrobotix.ui.GrxBaseItem
static final String [] jointTypeComboItem_ = new String[] { "fixed", "rotate", "free", "slide" }
 
static final String [] methodComboItem_ = new String[] { "EULER", "RUNGE_KUTTA" }
 
static final String [] modeComboItem_ = new String[] { "Torque", "HighGain" }
 
- Static Protected Attributes inherited from com.generalrobotix.ui.GrxBasePlugin
static final String [] booleanComboItem_ = new String[] {"true", "false" }
 
static final String INDENT4 = " "
 
static final String ITEM_TAG = "item"
 
static final String PROPERTY_TAG = "property"
 
static final String VIEW_TAG = "view"
 

Detailed Description

item corresponds to a robot model

Definition at line 52 of file GrxModelItem.java.

Constructor & Destructor Documentation

◆ GrxModelItem()

com.generalrobotix.ui.item.GrxModelItem.GrxModelItem ( String  name,
GrxPluginManager  item 
)
inline

constructor

Parameters
namename of this item
itemplugin manager

Definition at line 219 of file GrxModelItem.java.

Member Function Documentation

◆ _globalToRoot()

void com.generalrobotix.ui.item.GrxModelItem._globalToRoot ( Vector3d  pos)
inlineprivate

convert global position into robot local

Parameters
posglobal position It is overwritten by robot local position

Definition at line 1086 of file GrxModelItem.java.

◆ _initMenu()

void com.generalrobotix.ui.item.GrxModelItem._initMenu ( )
inlineprivate

initialize right-click menu

Definition at line 265 of file GrxModelItem.java.

◆ _loadVrmlScene()

void com.generalrobotix.ui.item.GrxModelItem._loadVrmlScene ( LinkInfo []  links) throws BadLinkStructureException
inlineprivate

create shapes of links

Parameters
linksarray of LinkInfo retrieved from ModelLoader
Exceptions
BadLinkStructureException

Definition at line 771 of file GrxModelItem.java.

◆ _saveAs()

boolean com.generalrobotix.ui.item.GrxModelItem._saveAs ( )
inlineprivate

save this model as a VRML file

Definition at line 350 of file GrxModelItem.java.

◆ _setModelType() [1/2]

void com.generalrobotix.ui.item.GrxModelItem._setModelType ( String  value)
inlineprivate

set model type(robot or environment) from String

Parameters
value"true" or "false"

Definition at line 504 of file GrxModelItem.java.

◆ _setModelType() [2/2]

void com.generalrobotix.ui.item.GrxModelItem._setModelType ( boolean  isRobot)
inlineprivate

set model type(robot or environment)

Parameters
isRobottrue if this model is robot, false otherwise

Definition at line 515 of file GrxModelItem.java.

◆ _setTransform()

void com.generalrobotix.ui.item.GrxModelItem._setTransform ( int  linkId,
Vector3d  pos,
Matrix3d  rot 
)
inlineprivate

set transformation of linkId th joint

Parameters
linkIdid of the link
posposition
rotrotation matrix

Definition at line 990 of file GrxModelItem.java.

◆ _setupMarks()

void com.generalrobotix.ui.item.GrxModelItem._setupMarks ( )
inlineprivate

create spheres to display CoM and projected CoM

Note
switches for CoM spheres and bounding box are attached to TransformGroup of the root link. As the result, this method must be called after the root link is created. And if the root link is re-created, this function must be called again.

Definition at line 536 of file GrxModelItem.java.

◆ addExtraJoint()

void com.generalrobotix.ui.item.GrxModelItem.addExtraJoint ( String  name)
inlineprivate

Definition at line 1673 of file GrxModelItem.java.

◆ addLink()

void com.generalrobotix.ui.item.GrxModelItem.addLink ( GrxLinkItem  link)
inline

add a link

This method is called by constructor of GrxLinkItem

Parameters
linklink to be added

Definition at line 246 of file GrxModelItem.java.

◆ addRobot()

void com.generalrobotix.ui.item.GrxModelItem.addRobot ( File  f,
GrxLinkItem  parentLink 
)
inline

load and add a new robot as a child

Parameters
ffile name of the new robot

Definition at line 810 of file GrxModelItem.java.

◆ calcForwardKinematics()

void com.generalrobotix.ui.item.GrxModelItem.calcForwardKinematics ( )
inline

compute forward kinematics

Definition at line 1055 of file GrxModelItem.java.

◆ cancelModified()

void com.generalrobotix.ui.item.GrxModelItem.cancelModified ( )
inline

Definition at line 157 of file GrxModelItem.java.

◆ checkModifiedModel()

int com.generalrobotix.ui.item.GrxModelItem.checkModifiedModel ( boolean  reload)
inline

Definition at line 109 of file GrxModelItem.java.

◆ clone()

GrxModelItem com.generalrobotix.ui.item.GrxModelItem.clone ( )
inline

Override clone method.

Returns
GrxModelItem

Definition at line 1505 of file GrxModelItem.java.

◆ create()

boolean com.generalrobotix.ui.item.GrxModelItem.create ( )
inline

create a new model

Returns
true if created successfully, false otherwise

Definition at line 368 of file GrxModelItem.java.

◆ createLink()

void com.generalrobotix.ui.item.GrxModelItem.createLink ( int  index)
inlineprivate

make connections between links and gather cameras

Parameters
indexindex of link in links_

Definition at line 737 of file GrxModelItem.java.

◆ delete()

void com.generalrobotix.ui.item.GrxModelItem.delete ( )
inline

delete this item

Definition at line 1283 of file GrxModelItem.java.

◆ getBodyInfo()

BodyInfo com.generalrobotix.ui.item.GrxModelItem.getBodyInfo ( )
inline

get BodyInfo

Returns
BodyInfo

Definition at line 189 of file GrxModelItem.java.

◆ getBodyInfoFromModelLoader()

BodyInfo com.generalrobotix.ui.item.GrxModelItem.getBodyInfoFromModelLoader ( )
inlineprivate

Definition at line 1550 of file GrxModelItem.java.

◆ getCameraSequence()

List<Camera_impl> com.generalrobotix.ui.item.GrxModelItem.getCameraSequence ( )
inline

get sequence of cameras

Returns
sequence of cameras

Definition at line 1466 of file GrxModelItem.java.

◆ getCoM()

void com.generalrobotix.ui.item.GrxModelItem.getCoM ( Vector3d  pos)
inline

compute center of mass

Parameters
poscomputed center of mass

Definition at line 1100 of file GrxModelItem.java.

◆ getDOF()

int com.generalrobotix.ui.item.GrxModelItem.getDOF ( )
inline

Definition at line 1196 of file GrxModelItem.java.

◆ getInitialJointMode()

double [] com.generalrobotix.ui.item.GrxModelItem.getInitialJointMode ( )
inline

Definition at line 1244 of file GrxModelItem.java.

◆ getInitialJointValues()

double [] com.generalrobotix.ui.item.GrxModelItem.getInitialJointValues ( )
inline

Definition at line 1216 of file GrxModelItem.java.

◆ getInitialJointVelocity()

double [] com.generalrobotix.ui.item.GrxModelItem.getInitialJointVelocity ( )
inline

Definition at line 1226 of file GrxModelItem.java.

◆ getInitialTransformArray()

double [] com.generalrobotix.ui.item.GrxModelItem.getInitialTransformArray ( GrxLinkItem  link)
inline

Definition at line 1162 of file GrxModelItem.java.

◆ getInitialVelocity()

double [] com.generalrobotix.ui.item.GrxModelItem.getInitialVelocity ( GrxLinkItem  link)
inline

Definition at line 1182 of file GrxModelItem.java.

◆ getJointNames()

String [] com.generalrobotix.ui.item.GrxModelItem.getJointNames ( )
inline

Definition at line 1202 of file GrxModelItem.java.

◆ getJointValues()

double [] com.generalrobotix.ui.item.GrxModelItem.getJointValues ( )
inline

Definition at line 1209 of file GrxModelItem.java.

◆ getLink()

GrxLinkItem com.generalrobotix.ui.item.GrxModelItem.getLink ( String  name)
inline

get link from name

Parameters
namename of the link
Returns
link if found, null otherwise

Definition at line 1546 of file GrxModelItem.java.

◆ getSameUrlModels()

List<GrxModelItem> com.generalrobotix.ui.item.GrxModelItem.getSameUrlModels ( )
inline

Definition at line 1591 of file GrxModelItem.java.

◆ getSensorNames()

String [] com.generalrobotix.ui.item.GrxModelItem.getSensorNames ( String  type)
inline

Definition at line 1126 of file GrxModelItem.java.

◆ getSensors()

List<GrxSensorItem> com.generalrobotix.ui.item.GrxModelItem.getSensors ( String  type)
inline

Definition at line 1116 of file GrxModelItem.java.

◆ getTransformArray()

double [] com.generalrobotix.ui.item.GrxModelItem.getTransformArray ( GrxLinkItem  link)
inline

get transform of link in array form

Parameters
linklink
Returns
array. lenth = 12 = position(3)+rotation(9)

Definition at line 1146 of file GrxModelItem.java.

◆ getTransformGroupRoot()

TransformGroup com.generalrobotix.ui.item.GrxModelItem.getTransformGroupRoot ( )
inline

TransformGroupの参照取得

Returns
シーングラフの参照

Implements com.generalrobotix.ui.view.tdview.Manipulatable.

Definition at line 1137 of file GrxModelItem.java.

◆ GetValueEditType()

ValueEditType com.generalrobotix.ui.item.GrxModelItem.GetValueEditType ( String  key)
inline

Definition at line 1658 of file GrxModelItem.java.

◆ isModified()

boolean com.generalrobotix.ui.item.GrxModelItem.isModified ( )
inline

Definition at line 102 of file GrxModelItem.java.

◆ isRobot()

boolean com.generalrobotix.ui.item.GrxModelItem.isRobot ( )
inline

Definition at line 1254 of file GrxModelItem.java.

◆ load()

boolean com.generalrobotix.ui.item.GrxModelItem.load ( File  f)
inline

load a model from file

Parameters
ffile that describes a model
Returns
true if loaded successfully, false otherwise

Definition at line 561 of file GrxModelItem.java.

◆ load0()

boolean com.generalrobotix.ui.item.GrxModelItem.load0 ( File  f)
inlineprivate

Definition at line 586 of file GrxModelItem.java.

◆ makeAABB()

void com.generalrobotix.ui.item.GrxModelItem.makeAABB ( BodyInfo  binfo)
inlineprivate

Definition at line 1571 of file GrxModelItem.java.

◆ makeAABBforSameUrlModels()

void com.generalrobotix.ui.item.GrxModelItem.makeAABBforSameUrlModels ( )
inline

Definition at line 1602 of file GrxModelItem.java.

◆ notifyModified()

void com.generalrobotix.ui.item.GrxModelItem.notifyModified ( )
inline

notify this model is modified

Definition at line 96 of file GrxModelItem.java.

◆ propertyChanged()

boolean com.generalrobotix.ui.item.GrxModelItem.propertyChanged ( String  property,
String  value 
)
inline

check validity of new value of property and update if valid

Parameters
propertyname of property
valuevalue of property
Returns
true if checked(even if value is not used), false otherwise

Definition at line 442 of file GrxModelItem.java.

◆ registerCharacter() [1/2]

boolean com.generalrobotix.ui.item.GrxModelItem.registerCharacter ( BodyInfo  bInfo)
inline

Definition at line 624 of file GrxModelItem.java.

◆ registerCharacter() [2/2]

boolean com.generalrobotix.ui.item.GrxModelItem.registerCharacter ( )
inlineprivate

Definition at line 629 of file GrxModelItem.java.

◆ reload()

boolean com.generalrobotix.ui.item.GrxModelItem.reload ( )
inline

Definition at line 169 of file GrxModelItem.java.

◆ removeExtraJoint()

void com.generalrobotix.ui.item.GrxModelItem.removeExtraJoint ( GrxExtraJointItem  extraJoint)
inline

Definition at line 1668 of file GrxModelItem.java.

◆ removeLink()

void com.generalrobotix.ui.item.GrxModelItem.removeLink ( GrxLinkItem  link)
inline

remove a link

Parameters
linklinke to be removed

Definition at line 256 of file GrxModelItem.java.

◆ rename()

void com.generalrobotix.ui.item.GrxModelItem.rename ( String  newName)
inline

rename this Model

Parameters
newNamenew name

Definition at line 1622 of file GrxModelItem.java.

◆ resizeBoundingBox()

void com.generalrobotix.ui.item.GrxModelItem.resizeBoundingBox ( )
inline

resize bounding box which covers the whole body

Definition at line 1319 of file GrxModelItem.java.

◆ restoreProperties()

void com.generalrobotix.ui.item.GrxModelItem.restoreProperties ( )
inline

restore properties

Definition at line 386 of file GrxModelItem.java.

◆ rootLink()

GrxLinkItem com.generalrobotix.ui.item.GrxModelItem.rootLink ( )
inline

get root link

Definition at line 375 of file GrxModelItem.java.

◆ sameUrlModelLoad()

void com.generalrobotix.ui.item.GrxModelItem.sameUrlModelLoad ( )
inlineprivate

Definition at line 176 of file GrxModelItem.java.

◆ saveAndLoad()

boolean com.generalrobotix.ui.item.GrxModelItem.saveAndLoad ( )
inline

Definition at line 162 of file GrxModelItem.java.

◆ setCharacterPos()

void com.generalrobotix.ui.item.GrxModelItem.setCharacterPos ( LinkPosition []  lpos,
double []  q 
)
inline

set transformation of the root joint and all joint values

Parameters
lpostransformation of the root joint
qsequence of joint values

Definition at line 940 of file GrxModelItem.java.

◆ setFocused()

void com.generalrobotix.ui.item.GrxModelItem.setFocused ( boolean  b)
inline

set/unset focus on this item

When this item is focused, its bounding box is displayed.

Parameters
trueto focus, false to unfocus

Definition at line 1275 of file GrxModelItem.java.

◆ setJointColor()

void com.generalrobotix.ui.item.GrxModelItem.setJointColor ( int  jid,
java.awt.Color  color 
)
inline

set color of joint

Parameters
jidjoint id
colorcolor

Definition at line 1475 of file GrxModelItem.java.

◆ setJointValues()

void com.generalrobotix.ui.item.GrxModelItem.setJointValues ( final double []  values)
inline

set joint values

Parameters
valuesjoint values

Definition at line 1000 of file GrxModelItem.java.

◆ setJointValuesWithinLimit()

void com.generalrobotix.ui.item.GrxModelItem.setJointValuesWithinLimit ( )
inline

modify joint value if it exceeds limit values

Definition at line 1012 of file GrxModelItem.java.

◆ setSelected()

void com.generalrobotix.ui.item.GrxModelItem.setSelected ( boolean  b)
inline

Definition at line 1258 of file GrxModelItem.java.

◆ setTransformRoot() [1/2]

void com.generalrobotix.ui.item.GrxModelItem.setTransformRoot ( Vector3d  pos,
Matrix3d  rot 
)
inline

set transformation of the root joint

Parameters
posposition
rotrotation matrix

Definition at line 968 of file GrxModelItem.java.

◆ setTransformRoot() [2/2]

void com.generalrobotix.ui.item.GrxModelItem.setTransformRoot ( Transform3D  tform)
inline

set transformation of the root joint

Parameters
posposition
rotrotation matrix

Definition at line 977 of file GrxModelItem.java.

◆ setTransparencyMode() [1/2]

void com.generalrobotix.ui.item.GrxModelItem.setTransparencyMode ( boolean  b)
inline
Parameters
b

Definition at line 1421 of file GrxModelItem.java.

◆ setTransparencyMode() [2/2]

void com.generalrobotix.ui.item.GrxModelItem.setTransparencyMode ( boolean  b,
Node  node 
)
inlineprivate
Parameters
b
node

Definition at line 1430 of file GrxModelItem.java.

◆ setVisibleAABB()

void com.generalrobotix.ui.item.GrxModelItem.setVisibleAABB ( boolean  b)
inline

Definition at line 1411 of file GrxModelItem.java.

◆ setVisibleCoM()

void com.generalrobotix.ui.item.GrxModelItem.setVisibleCoM ( boolean  b)
inline

set visibility of CoM

Parameters
btrue to make it visible, false otherwise

Definition at line 1346 of file GrxModelItem.java.

◆ setVisibleCoMonFloor()

void com.generalrobotix.ui.item.GrxModelItem.setVisibleCoMonFloor ( boolean  b)
inline

set visibility of CoM projected on the floor

Parameters
btrue to make it visible, false otherwise

Definition at line 1359 of file GrxModelItem.java.

◆ setWireFrame() [1/2]

void com.generalrobotix.ui.item.GrxModelItem.setWireFrame ( boolean  b)
inline

switch display mode between fill and line

Parameters
btrue to switch to line mode, false otherwise

Definition at line 1372 of file GrxModelItem.java.

◆ setWireFrame() [2/2]

void com.generalrobotix.ui.item.GrxModelItem.setWireFrame ( boolean  b,
Node  node 
)
inline

switch display mode between fill and line

Parameters
btrue to switch to line mode, false otherwise
nodetop of subtree to be processed

Definition at line 1381 of file GrxModelItem.java.

◆ updateCoM()

void com.generalrobotix.ui.item.GrxModelItem.updateCoM ( )
inline

update CoM and projected CoM positions

Definition at line 1063 of file GrxModelItem.java.

◆ updateInitialJointValue()

void com.generalrobotix.ui.item.GrxModelItem.updateInitialJointValue ( GrxLinkItem  link)
inline

update joint value property from current joint value

Parameters
linklink

Definition at line 1037 of file GrxModelItem.java.

◆ updateInitialJointValues()

void com.generalrobotix.ui.item.GrxModelItem.updateInitialJointValues ( )
inline

update initial joint value properties from current joint values

Definition at line 1045 of file GrxModelItem.java.

◆ updateInitialTransformRoot()

void com.generalrobotix.ui.item.GrxModelItem.updateInitialTransformRoot ( )
inline

update initial transformation property from current Transform3D

Definition at line 1019 of file GrxModelItem.java.

Member Data Documentation

◆ appearances

AppearanceInfo [] com.generalrobotix.ui.item.GrxModelItem.appearances = null

Definition at line 78 of file GrxModelItem.java.

◆ bgRoot_

BranchGroup com.generalrobotix.ui.item.GrxModelItem.bgRoot_ = new BranchGroup()

Definition at line 67 of file GrxModelItem.java.

◆ bInfo_

BodyInfo com.generalrobotix.ui.item.GrxModelItem.bInfo_
private

Definition at line 64 of file GrxModelItem.java.

◆ bModified_

boolean com.generalrobotix.ui.item.GrxModelItem.bModified_ = false
private

Definition at line 65 of file GrxModelItem.java.

◆ cameraList_

List<Camera_impl> com.generalrobotix.ui.item.GrxModelItem.cameraList_ = new ArrayList<Camera_impl>()
private

Definition at line 75 of file GrxModelItem.java.

◆ DEFAULT_DIR

final String com.generalrobotix.ui.item.GrxModelItem.DEFAULT_DIR = "/../model"
static

Definition at line 54 of file GrxModelItem.java.

◆ DEFAULT_RADIUS

final double com.generalrobotix.ui.item.GrxModelItem.DEFAULT_RADIUS = 0.05
staticprivate

Definition at line 56 of file GrxModelItem.java.

◆ envIcon

final String com.generalrobotix.ui.item.GrxModelItem.envIcon = "environment.png"
staticprivate

Definition at line 60 of file GrxModelItem.java.

◆ extraJoints_

Vector<GrxExtraJointItem> com.generalrobotix.ui.item.GrxModelItem.extraJoints_ = new Vector<GrxExtraJointItem>()

Definition at line 69 of file GrxModelItem.java.

◆ FILE_EXTENSION

final String com.generalrobotix.ui.item.GrxModelItem.FILE_EXTENSION = "*"
static

Definition at line 55 of file GrxModelItem.java.

◆ isRobot_

boolean com.generalrobotix.ui.item.GrxModelItem.isRobot_ = true
private

Definition at line 62 of file GrxModelItem.java.

◆ jointToLink_

int [] com.generalrobotix.ui.item.GrxModelItem.jointToLink_
private

Definition at line 71 of file GrxModelItem.java.

◆ links_

Vector<GrxLinkItem> com.generalrobotix.ui.item.GrxModelItem.links_ = new Vector<GrxLinkItem>()

Definition at line 68 of file GrxModelItem.java.

◆ materials

MaterialInfo [] com.generalrobotix.ui.item.GrxModelItem.materials = null

Definition at line 79 of file GrxModelItem.java.

◆ MODIFIED_NG

final int com.generalrobotix.ui.item.GrxModelItem.MODIFIED_NG =1
static

Definition at line 107 of file GrxModelItem.java.

◆ MODIFIED_NOT

final int com.generalrobotix.ui.item.GrxModelItem.MODIFIED_NOT =2
static

Definition at line 108 of file GrxModelItem.java.

◆ MODIFIED_OK

final int com.generalrobotix.ui.item.GrxModelItem.MODIFIED_OK =0
static

Definition at line 106 of file GrxModelItem.java.

◆ nameToLink_

Map<String, GrxLinkItem> com.generalrobotix.ui.item.GrxModelItem.nameToLink_ = new HashMap<String, GrxLinkItem>()

Definition at line 72 of file GrxModelItem.java.

◆ robotIcon

final String com.generalrobotix.ui.item.GrxModelItem.robotIcon = "robot.png"
staticprivate

Definition at line 59 of file GrxModelItem.java.

◆ shapes

ShapeInfo [] com.generalrobotix.ui.item.GrxModelItem.shapes = null

Definition at line 77 of file GrxModelItem.java.

◆ switchBb_

Switch com.generalrobotix.ui.item.GrxModelItem.switchBb_
private

Definition at line 91 of file GrxModelItem.java.

◆ switchCom_

Switch com.generalrobotix.ui.item.GrxModelItem.switchCom_
private

Definition at line 83 of file GrxModelItem.java.

◆ switchComZ0_

Switch com.generalrobotix.ui.item.GrxModelItem.switchComZ0_
private

Definition at line 87 of file GrxModelItem.java.

◆ textures

TextureInfo [] com.generalrobotix.ui.item.GrxModelItem.textures = null

Definition at line 80 of file GrxModelItem.java.

◆ tgCom_

TransformGroup com.generalrobotix.ui.item.GrxModelItem.tgCom_
private

Definition at line 84 of file GrxModelItem.java.

◆ tgComZ0_

TransformGroup com.generalrobotix.ui.item.GrxModelItem.tgComZ0_
private

Definition at line 88 of file GrxModelItem.java.

◆ TITLE

final String com.generalrobotix.ui.item.GrxModelItem.TITLE = "Model"
static

Definition at line 53 of file GrxModelItem.java.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:07