Public Member Functions | Public Attributes | Protected Member Functions | Package Functions | Private Member Functions | Private Attributes
com.generalrobotix.ui.item.GrxLinkItem Class Reference
Inheritance diagram for com.generalrobotix.ui.item.GrxLinkItem:
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[legend]

List of all members.

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:
infolink information retrieved through ModelLoader

Definition at line 693 of file GrxLinkItem.java.


Member Function Documentation

common initialization

Definition at line 882 of file GrxLinkItem.java.

initialize menu

Definition at line 755 of file GrxLinkItem.java.

Definition at line 515 of file GrxLinkItem.java.

compute CoM in global frame

Returns:
computed CoM

Definition at line 510 of file GrxLinkItem.java.

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.

create and add a new link as a child

Parameters:
namename of the new link

Definition at line 430 of file GrxLinkItem.java.

add a child link

Parameters:
childchild link

Definition at line 447 of file GrxLinkItem.java.

load and add a new robot as a child

Parameters:
ffile name of the new robot

Definition at line 502 of file GrxLinkItem.java.

create and add a new sensor as a child

Parameters:
namename of the new sensor

Definition at line 472 of file GrxLinkItem.java.

create and add a new sensor as a child

Parameters:
namename of the new sensor

Definition at line 458 of file GrxLinkItem.java.

add a sensor as a child

Parameters:
sensorsensor

Definition at line 486 of file GrxLinkItem.java.

compute forward kinematics

Definition at line 616 of file GrxLinkItem.java.

set CoM position

Parameters:
comCoM position(length=3)
Returns:
true if set successfully, false otherwise

Definition at line 218 of file GrxLinkItem.java.

set CoM position from string

Parameters:
valuespace separated array of double(length=3)

Definition at line 237 of file GrxLinkItem.java.

Definition at line 1063 of file GrxLinkItem.java.

Override clone method.

Returns:
GrxLinkItem

Reimplemented from com.generalrobotix.ui.GrxBaseItem.

Definition at line 940 of file GrxLinkItem.java.

delete this link and children

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

Definition at line 1026 of file GrxLinkItem.java.

Definition at line 336 of file GrxLinkItem.java.

Definition at line 342 of file GrxLinkItem.java.

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Definition at line 330 of file GrxLinkItem.java.

Return editing type of the key item.

Returns:
ValueEditType

Reimplemented from com.generalrobotix.ui.GrxBasePlugin.

Definition at line 1139 of file GrxLinkItem.java.

set inertia matrix

Parameters:
newIinertia matrix(length=9)
Returns:
true if set successfully, false otherwise

Definition at line 196 of file GrxLinkItem.java.

Definition at line 207 of file GrxLinkItem.java.

set joint axis

Parameters:
axisaxis 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.

set joint id

Returns:
joint id

Definition at line 268 of file GrxLinkItem.java.

set joint id from string

Parameters:
valuestring

Definition at line 278 of file GrxLinkItem.java.

set joint type

Parameters:
typetype of this joint. It must be one of "fixed", "free", "rotate" and "slide"

Definition at line 310 of file GrxLinkItem.java.

set new joint value

Parameters:
jvjoint value

Definition at line 171 of file GrxLinkItem.java.

set joint value from string

Parameters:
valuejoint value
Returns:
true if set successfully, false otherwise

Definition at line 181 of file GrxLinkItem.java.

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

Definition at line 1067 of file GrxLinkItem.java.

set mass from string

Parameters:
valuemass

Definition at line 289 of file GrxLinkItem.java.

Definition at line 296 of file GrxLinkItem.java.

Definition at line 1164 of file GrxLinkItem.java.

Definition at line 1187 of file GrxLinkItem.java.

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:
propertyname of property
valuevalue 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.

Definition at line 491 of file GrxLinkItem.java.

rename this Link

Parameters:
newNamenew name

Reimplemented from com.generalrobotix.ui.GrxBasePlugin.

Definition at line 1117 of file GrxLinkItem.java.

Definition at line 1045 of file GrxLinkItem.java.

Definition at line 348 of file GrxLinkItem.java.

Definition at line 354 of file GrxLinkItem.java.

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.

set/unset fucus on this item

When this item is focused, some geometries are displayed

Parameters:
btrue to fucus, false to unfocus

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

Definition at line 1007 of file GrxLinkItem.java.

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:
posnew position
rotnew rotation

Definition at line 954 of file GrxLinkItem.java.

set new position and rotation in global frame

Parameters:
tformnew transform

Definition at line 976 of file GrxLinkItem.java.

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Member Data Documentation

Definition at line 90 of file GrxLinkItem.java.

子リンクインデックス列

Definition at line 89 of file GrxLinkItem.java.

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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.

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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 Apr 11 2019 03:30:21