class toolModule

abstract class for modules representing tools or end-effectors.

Inheritance:

Public Fields

quaternion q

orientation of TCP in tcpPart's ref frame

triple x

position of TCP in tcpPart's ref frame

quaternion qlink

TCP orientation in link's ref frame.

triple xlink

TCP position in link's ref frame.

part* tcpPart

part that TCP is attached to

double kp

Stiffness coefficient for compliant tools.

double kv

Damping coefficient for compliant contacts.

ptrList* contactParts

a list of parts that should be added to the dynoContactor.

Public Methods

virtual int addContactInfo(dynoContactor* dc, int flags)

calls dynoContactor::addLink with tcpPart->l and contactParts.

virtual int isCompliant(void)

indicates whether rigid or compliant contacts should be used

toolModule(void)

constructor

toolModule(const toolModule &other)

copy constructor

int computeLinkCoords(void)

computes the link coordinates of the TCP

inline void getWorldCoords(triple &xworld, quaternion &qworld) const

returns the position and orientation of the TCP in world coordinates

inline triple getWorldPt(void) const

returs the position of the TCP in world coordinates

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

abstract class for modules representing tools or end-effectors.

This class defines a new virtual method 'addContactInfo', which adds a tool's contact geometry to a dynoContactor so that intersection and contact calculations can be performed. If 'contactParts' is non-NULL, then only those parts in it will be added; otherwise, all tool parts are added.

quaternion q

orientation of TCP in tcpPart's ref frame

triple x

position of TCP in tcpPart's ref frame

quaternion qlink

TCP orientation in link's ref frame. computed by computeLinkCoords.

triple xlink

TCP position in link's ref frame. computed by computeLinkCoords.

part* tcpPart

part that TCP is attached to

double kp

Stiffness coefficient for compliant tools. This is used for setting the properties of compliant contacts between the tool and other objects.

double kv

Damping coefficient for compliant contacts. This is used for setting the properties of compliant contacts between the tool and other objects.

ptrList* contactParts

a list of parts that should be added to the dynoContactor. If NULL, then all parts will be added.

virtual int addContactInfo(dynoContactor* dc, int flags)

calls dynoContactor::addLink with tcpPart->l and contactParts. The contact type is set to POINT or COMPLIANT based on the return value of isCompliant(), and friction coefficients are 1.0. (note that the module's coefficients get multiplied by the terrain coefficients to compute the actual friction coefficients for the contact). This will probably change in the future to allow materials to be specified for the module and other objects. The actual friction coefficients can then be looked up in a table of material pairs. 'flags' indicates what collision/contact operations should be performed, and is a bitwise-OR of dynoCollisionOperation values.

See Also:

dynoCollisionOperation
dynoContactor
locomotion.h

virtual int isCompliant(void)

indicates whether rigid or compliant contacts should be used

toolModule(void)

constructor

toolModule(const toolModule &other)

copy constructor

int computeLinkCoords(void)

computes the link coordinates of the TCP

inline void getWorldCoords(triple &xworld, quaternion &qworld) const

returns the position and orientation of the TCP in world coordinates

inline triple getWorldPt(void) const

returs the position of the TCP in world coordinates

Direct child classes:

simpleTool
palletFork
locomotorModule

Alphabetic index HTML hierarchy of classes or Java