A coordinated movement of joints in an articulated body. More...

#include <jointaction.h>

Inheritance diagram for VART::JointAction:

Classes
class	Initializer

Public Member Functions
	JointAction ()

virtual	~JointAction ()

JointMover *	AddJointMover (Joint *jointPtr, float newDuration, const Interpolator &interpolator)
	Adds a joint mover to the action. More...

JointMover *	AddJointMover (Joint jointPtr, JointMover jointMover)
	Used to add a copy of jointMover, aplied to jointPtr. More...

void	SetPriority (unsigned int newPriority)
	Sets the priority of an action. More...

void	GetFinalTimes (std::list< float > *resultPtr)
	Returns a ordered list with all different final times for every dof mover. More...

void	ModifyDofMovers (DMModifier &mod)
	Modifies dof movers. More...

DofMover *	SearchDofMover (Joint *jointPtr, Joint::DofID dof)
	Returns a dof mover. More...

void	GetJoints (std::list< Joint * > *listPtr)
	Returns a list of all target joints. More...

virtual void	Activate ()
	Activates a JointAction. More...

Public Member Functions inherited from VART::BaseAction
	BaseAction ()
	Creates an action with sane defaults. More...

virtual	~BaseAction ()

void	SetSpeed (float newSpeed)

void	SetDuration (float seconds)

void	SetCyclic (bool value)

bool	IsCyclic ()

bool	IsActive () const

void	Deactivate (float seconds)
	Mark for auto deactivation in given time. More...

virtual void	Deactivate ()
	Deactivate now. More...

Protected Member Functions
virtual void	Move ()
	Make the action update its targets. More...

void	DeactivateDofMovers ()

void	AddToActiveInstancesList ()
	Adds itself to list of active instances, in priority order. More...

Protected Member Functions inherited from VART::BaseAction
virtual void	ComputePositionIndex (bool *cycled)
	Computes current position index. More...

Protected Attributes
std::list< JointMover * >	jointMoverList

unsigned int	priority

Protected Attributes inherited from VART::BaseAction
bool	cyclic
	Whether the action restarts upon termination. More...

bool	active
	Whether the action is currently active (changing its target). More...

float	speedModifier
	Speed modifier. More...

float	duration
	Duration in seconds. More...

float	timeToLive
	Time (in seconds) to auto deactivate. More...

float	positionIndex
	Current position index. More...

float	lastPositionIndex
	Position index of last update. More...

Time	lastUpdateTime
	Time of last update. More...

Friends
std::ostream &	operator<< (std::ostream &output, const JointAction &action)

Additional Inherited Members
Static Public Member Functions inherited from VART::BaseAction
static unsigned int	MoveAllActive ()
	Moves all active actions. More...

Public Attributes inherited from VART::BaseAction
std::string	description

CallBack *	callbackPtr
	Termination callback. More...

Static Protected Attributes inherited from VART::BaseAction
static std::list< BaseAction * >	activeInstances
	List of active actions. More...

static std::list< Initializer * >	initializers
	List of action initializers. More...

Detailed Description

A coordinated movement of joints in an articulated body.

Actions represent simple tasks such as walking, waving or scratching the head. They may be thought as an integration of key poses, interpolation schemes and time control. When the time period for a non-cyclic action terminates, it is automatically deactivated. They are implementated as a collection of joint movers (see JointMover).

Definition at line 26 of file jointaction.h.

Constructor & Destructor Documentation

VART::JointAction::JointAction ( )

Definition at line 38 of file jointaction.cpp.

virtual VART::JointAction::~JointAction ( )

inlinevirtual

Definition at line 30 of file jointaction.h.

Member Function Documentation

void VART::JointAction::Activate ( )

virtual

Activates a JointAction.

Reimplemented from VART::BaseAction.

Definition at line 45 of file jointaction.cpp.

VART::JointMover * VART::JointAction::AddJointMover	(	Joint *	jointPtr,
		float	newDuration,
		const Interpolator &	interpolator
	)

Adds a joint mover to the action.

Returns: A pointer to a newly created joint mover.

Parameters

[in]	jointPtr	A pointer to the joint that will be controlled by the new joint mover.
[in]	newDuration	Duration (in seconds) of the joint movement.
[in]	interpolator	An interpolator instance that will control motion.

Attention: Make sure that "interpolator" remains in its original memory space during lifetime of the joint mover. The joint mover will keep just a pointer to the interpolator.

Creates a new joint mover which is assigned to the action. The memory allocated by the joint mover will be deallocated by the action's destructor.

Definition at line 113 of file jointaction.cpp.

JointMover* VART::JointAction::AddJointMover	(	Joint *	jointPtr,
		JointMover *	jointMover
	)

Used to add a copy of jointMover, aplied to jointPtr.

void VART::JointAction::AddToActiveInstancesList ( )

protected

Adds itself to list of active instances, in priority order.

Definition at line 60 of file jointaction.cpp.

References priority.

void VART::JointAction::DeactivateDofMovers ( )

protected

Definition at line 90 of file jointaction.cpp.

void VART::JointAction::GetFinalTimes ( std::list< float > * resultPtr )

Returns a ordered list with all different final times for every dof mover.

Definition at line 97 of file jointaction.cpp.

void VART::JointAction::GetJoints ( std::list< Joint * > * listPtr )

Returns a list of all target joints.

Definition at line 105 of file jointaction.cpp.

void VART::JointAction::ModifyDofMovers ( DMModifier & mod )

Modifies dof movers.

Definition at line 149 of file jointaction.cpp.

void VART::JointAction::Move ( )

protectedvirtual

Make the action update its targets.

Move is to be called from MoveAllActive.

Implements VART::BaseAction.

Definition at line 125 of file jointaction.cpp.

References VART::DofMover::cycle, VART::JointMover::goalTime, and VART::DofMover::priority.

VART::DofMover * VART::JointAction::SearchDofMover	(	Joint *	jointPtr,
		Joint::DofID	dof
	)

Returns a dof mover.

Searches for a DofMover that works on given joint and dof. Returns NULL if not found.

Definition at line 157 of file jointaction.cpp.

void VART::JointAction::SetPriority ( unsigned int newPriority )

inline

Sets the priority of an action.

Definition at line 52 of file jointaction.h.

References priority.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	output,
		const JointAction &	action
	)

friend

Member Data Documentation

std::list<JointMover*> VART::JointAction::jointMoverList

protected

Definition at line 87 of file jointaction.h.

unsigned int VART::JointAction::priority

protected

Definition at line 88 of file jointaction.h.

Referenced by AddToActiveInstancesList(), and SetPriority().

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation