In file bases.h:

class fixedBase

a fixed base for manipulators.

Inheritance:


Inherited from nonComponentBase:


Inherited from baseModule:

Public Fields

omatrix* J
odouble cost
oint numSupportPts
obodyPoint* supportPts
obodyPoint stablePt
obaseMotionType baseType

Public Methods

new methods for baseModule

Jacobian-related routines

Public Members

otypedef enum Indicates the type of motion for the base's root link.


Inherited from dofModule:

Public Fields

optrList joints

Public Methods

ovirtual double maxVel(joint* jt, int dof) const
ovirtual double maxTorque(joint* jt, int dof, int isBraking) const
ovirtual double contTorque(joint* jt, int dof) const
ovirtual double power(joint* jt, int dof) const
ovirtual int isPassive(joint* jt, int dof) const
oinline int numJoints(void) const
oinline joint* getJoint(int i)


Inherited from module:

Public Fields

ostatic int currentID
ostatic const tmatrix connectionRotation
oconfiguration* cfg
oint ref
ochar* name
obool isPrototype
ohandedness whichSide
omodule* parent
oassembly* as
optrList* params
optrList* attachments
ocptrList* components
oconst componentContext* context

Public Methods

Virtual methods.

convenience functions

oinline const ptrList* getDependencies(int whichParam)

Public Members

oenum subType
oenum handedness

Protected Methods

ovoid assignConnectorIDs(void)


Inherited from synObject:

Public Fields

ostatic int staticClassID
oint objectID
oint verboseLevel

Public Methods

ovirtual const char* className(void) const
ovirtual synObject* copy(void) const
ovirtual int isOfType(int typeNum, int derivedOk)
ostatic int setStaticClassID(void)
ovirtual int classID(void) const


Documentation

a fixed base for manipulators. The base is a box with the center of its lower base at a specified location, and having a specified x, y, and z size. Parameters:

This class has no child classes.

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