DHLink Class
(Kinematics::DHLink)| Inherits: | CDPObject and |
Public Functions
| void | AddLoopConstraints(RigidBodyDynamics::DHChainSolver &solver) |
| bool | AddPositionConstraints(RigidBodyDynamics::DHChainSolver &solver) |
| virtual bool | CalculateLinkSpeeds() = 0 |
| void | CalculateVelocities() |
| void | ClearChainStructureCache() |
| void | ConfigureSubObjects(XMLElementEx *xml) |
| virtual void | CopyToPrevious() |
| std::vector<DHLink *> | GetChildLinks() const |
| double | GetDHA() const |
| double | GetDHAlpha() const |
| virtual double | GetDHD(bool predicted) const = 0 |
| virtual double | GetDHTheta(bool predicted) const = 0 |
| virtual double | GetInputDoF() const = 0 |
| virtual RigidBodyDynamics::JointType | GetJointType() const = 0 |
| std::optional<double> | GetMaxMovement(bool predicted) const |
| std::optional<double> | GetMaxMovementToPosition(PositionValues position, bool predicted) const |
| VelocityValues | GetMinPredictedMovement(VelocityValues velocity) const |
| DHChain * | GetParentChain() const |
| DHLink * | GetParentLink() const |
| CDPObject * | GetParentObject() const |
| RigidBodyDynamics::Math::SpatialTransform | GetPreTransformation(bool predicted) const |
| virtual std::optional<double> | GetPredictedDoF() const = 0 |
| RigidBodyDynamics::Math::SpatialTransform | GetPredictedTransformation() const |
| std::optional<PositionValues> | GetPreviousPredictedPosition() const |
| std::optional<RigidBodyDynamics::Math::Matrix3d> | GetPreviousRotation() const |
| std::optional<PositionValues> | GetPreviousSolvedPosition() const |
| virtual double | GetSolvedDoF() const = 0 |
| void | InitChainStructureCache() |
| virtual bool | IsDoFValueInput() const |
| virtual bool | IsPredictedCalculationNeeded() const |
| virtual bool | IsPreviousPositionNeeded() const |
| virtual void | SetInputTransformation(double dofPosition, const RigidBodyDynamics::Math::SpatialTransform &transformation) |
| virtual void | SetSolvedTransformation(double dofPosition, const RigidBodyDynamics::Math::SpatialTransform &transformation) |
| void | UpdateConfigurationFaults() |
| void | ValueChanged(ICDPNode *node, const CDP::StudioAPI::CDPVariantValue &oldValue, const CDP::StudioAPI::CDPVariantValue &newValue) override |
Reimplemented Public Functions
| virtual void | Activate() override |
| virtual void | Configure(XMLElementEx *xml) override |
| virtual void | Create(const char *shortName, CDPComponent *parent) override |
| virtual void | Destroy() override |
| virtual void | FillNodeChildren(CDP::StudioAPI::NodeStream &stream) const override |
| virtual std::string | GetNodeLongName() const override |
| virtual void | Suspend() override |
- 39 public functions inherited from CDPObject
- 49 public functions inherited from CDPBaseObject
- 27 public functions inherited from CDP::StudioAPI::CDPNode
- 22 public functions inherited from CDP::StudioAPI::ICDPNode
Additional Inherited Members
- 6 static public members inherited from CDPObject
- 1 static public member inherited from CDPBaseObject
- 15 protected functions inherited from CDPObject
- 1 protected function inherited from CDP::StudioAPI::CDPNode
- 9 protected variables inherited from CDPObject
- 10 protected variables inherited from CDPBaseObject
Member Function Documentation
[override virtual] void DHLink::Activate()
void DHLink::AddLoopConstraints(RigidBodyDynamics::DHChainSolver &solver)
bool DHLink::AddPositionConstraints(RigidBodyDynamics::DHChainSolver &solver)
[pure virtual] bool DHLink::CalculateLinkSpeeds()
void DHLink::CalculateVelocities()
void DHLink::ClearChainStructureCache()
[override virtual] void DHLink::Configure(XMLElementEx *xml)
void DHLink::ConfigureSubObjects(XMLElementEx *xml)
[virtual] void DHLink::CopyToPrevious()
[override virtual] void DHLink::Create(const char *shortName, CDPComponent *parent)
[override virtual] void DHLink::Destroy()
[override virtual] void DHLink::FillNodeChildren(CDP::StudioAPI::NodeStream &stream) const
std::vector<DHLink *> DHLink::GetChildLinks() const
double DHLink::GetDHA() const
double DHLink::GetDHAlpha() const
[pure virtual] double DHLink::GetDHD(bool predicted) const
[pure virtual] double DHLink::GetDHTheta(bool predicted) const
[pure virtual] double DHLink::GetInputDoF() const
[pure virtual] RigidBodyDynamics::JointType DHLink::GetJointType() const
std::optional<double> DHLink::GetMaxMovement(bool predicted) const
std::optional<double> DHLink::GetMaxMovementToPosition(PositionValues position, bool predicted) const
VelocityValues DHLink::GetMinPredictedMovement(VelocityValues velocity) const
[override virtual] std::string DHLink::GetNodeLongName() const
DHChain *DHLink::GetParentChain() const
DHLink *DHLink::GetParentLink() const
CDPObject *DHLink::GetParentObject() const
RigidBodyDynamics::Math::SpatialTransform DHLink::GetPreTransformation(bool predicted) const
[pure virtual] std::optional<double> DHLink::GetPredictedDoF() const
RigidBodyDynamics::Math::SpatialTransform DHLink::GetPredictedTransformation() const
std::optional<PositionValues> DHLink::GetPreviousPredictedPosition() const
std::optional<RigidBodyDynamics::Math::Matrix3d> DHLink::GetPreviousRotation() const
std::optional<PositionValues> DHLink::GetPreviousSolvedPosition() const
[pure virtual] double DHLink::GetSolvedDoF() const
void DHLink::InitChainStructureCache()
[virtual] bool DHLink::IsDoFValueInput() const
[virtual] bool DHLink::IsPredictedCalculationNeeded() const
[virtual] bool DHLink::IsPreviousPositionNeeded() const
[virtual] void DHLink::SetInputTransformation(double dofPosition, const RigidBodyDynamics::Math::SpatialTransform &transformation)
[virtual] void DHLink::SetSolvedTransformation(double dofPosition, const RigidBodyDynamics::Math::SpatialTransform &transformation)
[override virtual] void DHLink::Suspend()
void DHLink::UpdateConfigurationFaults()
void DHLink::ValueChanged(ICDPNode *node, const CDP::StudioAPI::CDPVariantValue &oldValue, const CDP::StudioAPI::CDPVariantValue &newValue)
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