com.generalrobotix.ui.view.tdview.InvKinemaResolver Class Reference

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_

Detailed Description

InvKinemaResolver

Definition at line 34 of file InvKinemaResolver.java.

Constructor & Destructor Documentation

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

Parameters

integrator
world

Definition at line 50 of file InvKinemaResolver.java.

Member Function Documentation

void com.generalrobotix.ui.view.tdview.InvKinemaResolver._setLinkStatus ( String  objectName )

inlineprivate

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

Parameters

objectName

Definition at line 115 of file InvKinemaResolver.java.

void com.generalrobotix.ui.view.tdview.InvKinemaResolver._setRootJoint ( GrxModelItem  robot )

inlineprivate

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

Parameters

transform

Returns

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

Parameters

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

Parameters

model
link

Definition at line 97 of file InvKinemaResolver.java.

Member Data Documentation

GrxLinkItem com.generalrobotix.ui.view.tdview.InvKinemaResolver.from_

private

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.

GrxPluginManager com.generalrobotix.ui.view.tdview.InvKinemaResolver.manager_

private

Definition at line 36 of file InvKinemaResolver.java.

GrxModelItem com.generalrobotix.ui.view.tdview.InvKinemaResolver.robot_

private

Definition at line 37 of file InvKinemaResolver.java.

GrxLinkItem com.generalrobotix.ui.view.tdview.InvKinemaResolver.to_

private

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.

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

• InvKinemaResolver.java