class virtualBase

a free-flying base for robots without specialized bases.

Inheritance:

Public Fields

int whichEndPoint

the index of the end effector link to use as the mechanism root link

link* desiredRoot

the desired root link

Inherited from nonComponentBase:

Inherited from baseModule:

Public Fields

matrix* J

double cost

int numSupportPts

bodyPoint* supportPts

bodyPoint stablePt

baseMotionType baseType

Public Methods

new methods for baseModule

Jacobian-related routines

Public Members

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

Inherited from dofModule:

Public Fields

ptrList joints

Public Methods

virtual double maxVel(joint* jt, int dof) const

virtual double maxTorque(joint* jt, int dof, int isBraking) const

virtual double contTorque(joint* jt, int dof) const

virtual double power(joint* jt, int dof) const

virtual int isPassive(joint* jt, int dof) const

inline int numJoints(void) const

inline joint* getJoint(int i)

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

a free-flying base for robots without specialized bases. This module does not have any geometry apart from two coincident connectors, and it allows configuration geometry to be build entirely from non-base modules. Parameters:

0 - indicates the endpoint that should be treated as the configuration's root link

int whichEndPoint

the index of the end effector link to use as the mechanism root link

link* desiredRoot

the desired root link

This class has no child classes.

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