Public Member Functions | |
InvKinemaResolver (GrxPluginManager manager) | |
boolean | resolve (Transform3D transform) |
void | setDynamicsSimulator (DynamicsSimulator integrator) |
boolean | setFromJoint (GrxModelItem model, GrxLinkItem link) |
boolean | setToJoint (GrxModelItem model, GrxLinkItem link) |
Private Member Functions | |
void | _setLinkStatus (String objectName) |
void | _setRootJoint (GrxModelItem robot) |
Private Attributes | |
GrxLinkItem | from_ |
DynamicsSimulator | integrator_ |
GrxPluginManager | manager_ |
GrxModelItem | robot_ |
GrxLinkItem | to_ |
LinkPosition | tr |
Transform3D | trFrom_ |
Definition at line 34 of file InvKinemaResolver.java.
com.generalrobotix.ui.view.tdview.InvKinemaResolver.InvKinemaResolver | ( | GrxPluginManager | manager | ) | [inline] |
コンストラクタ
設定に必要な情報をこのクラスに格納する
integrator | |
world |
Definition at line 50 of file InvKinemaResolver.java.
void com.generalrobotix.ui.view.tdview.InvKinemaResolver._setLinkStatus | ( | String | objectName | ) | [inline, private] |
setLinkStatus
Debugようにこのメソッドを叩くと現在のRobotの状態をIntegratorに通知する
objectName |
Definition at line 115 of file InvKinemaResolver.java.
void com.generalrobotix.ui.view.tdview.InvKinemaResolver._setRootJoint | ( | GrxModelItem | robot | ) | [inline, private] |
Definition at line 192 of file InvKinemaResolver.java.
boolean com.generalrobotix.ui.view.tdview.InvKinemaResolver.resolve | ( | Transform3D | transform | ) | [inline] |
resolve
マウスの動きから生成された T3D を逆運動学サーバを使って 各ジョイントの動きに直し設定する
transform |
Definition at line 155 of file InvKinemaResolver.java.
void com.generalrobotix.ui.view.tdview.InvKinemaResolver.setDynamicsSimulator | ( | DynamicsSimulator | integrator | ) | [inline] |
Definition at line 58 of file InvKinemaResolver.java.
boolean com.generalrobotix.ui.view.tdview.InvKinemaResolver.setFromJoint | ( | GrxModelItem | model, |
GrxLinkItem | link | ||
) | [inline] |
setFromJoint
移動原点になる Joint の名前を格納する
model | |
link |
Definition at line 69 of file InvKinemaResolver.java.
boolean com.generalrobotix.ui.view.tdview.InvKinemaResolver.setToJoint | ( | GrxModelItem | model, |
GrxLinkItem | link | ||
) | [inline] |
setToJoint
実際にマウスの動きに合わせて動く Joint の名前を格納する
model | |
link |
Definition at line 97 of file InvKinemaResolver.java.
Definition at line 38 of file InvKinemaResolver.java.
DynamicsSimulator com.generalrobotix.ui.view.tdview.InvKinemaResolver.integrator_ [private] |
Definition at line 35 of file InvKinemaResolver.java.
Definition at line 36 of file InvKinemaResolver.java.
Definition at line 37 of file InvKinemaResolver.java.
Definition at line 39 of file InvKinemaResolver.java.
LinkPosition com.generalrobotix.ui.view.tdview.InvKinemaResolver.tr [private] |
Definition at line 41 of file InvKinemaResolver.java.
Transform3D com.generalrobotix.ui.view.tdview.InvKinemaResolver.trFrom_ [private] |
Definition at line 40 of file InvKinemaResolver.java.