Controllers for joint movement. More...

#include <jointmover.h>

Public Member Functions
	JointMover ()

	JointMover (Joint *newJointPtr, float newDuration, const Interpolator &interpolator)

	~JointMover ()

void	Move ()
	Moves the associated joint. More...

void	AttachToJoint (Joint *newJointPtr)
	Sets the associated joint. More...

const VART::Joint *	GetAttachedJoint () const
	Returns the associated joint. More...

void	AddDofMover (Joint::DofID dof, float iniTime, float finTime, float finPos)
	Creates a DofMover. More...

NoisyDofMover *	AddNoisyDofMover (Joint::DofID dof, float iniTime, float finTime, float finPos)
	Creates a noisy DofMover. More...

DofMover *	GetDofMover (Joint::DofID dof)
	Return the DofMover working on given Dof. More...

void	SetDuration (float newDuration)
	Sets the total movement duration (in seconds). More...

float	GetDuration ()
	Return the total movement duration (in seconds). More...

void	SetInterpolator (const Interpolator &interp)
	Changes the associated interpolator. More...

const Interpolator *	GetInterpolator ()
	Returns a pointer to the associated interpolator. NULL is returned if there are no interpolator associated. More...

void	DeactivateDofMovers ()
	Deactivates all DOF movers. More...

void	MultiplyTimes (float value)
	Changes starting/ending times of all dof movers. More...

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

void	CopyFrom (VART::JointMover &jointMover, VART::Joint *targetJoint)
	Copy jointMover data to this jointMover, setting its jointPtr atribute to the targetJoint. More...

void	ModifyDofMovers (DMModifier &modifier)
	Modifies noisy dof movers. More...

Static Public Attributes
static float	goalTime

Protected Attributes
Joint *	jointPtr
	Associated joint. More...

float	duration

float	minimumDuration

const Interpolator *	interpolatorPtr

std::list< DofMover * >	dofMoverList

Friends
std::ostream &	operator<< (std::ostream &output, const JointMover &mover)

Detailed Description

Controllers for joint movement.

Joint movers contain a set of DOF movers (see DofMover). They control how a joint moves in a particular action (see Action).

Definition at line 22 of file jointmover.h.

Constructor & Destructor Documentation

VART::JointMover::JointMover ( )

Definition at line 20 of file jointmover.cpp.

VART::JointMover::JointMover	(	VART::Joint *	newJointPtr,
		float	newDuration,
		const Interpolator &	interpolator
	)

Definition at line 26 of file jointmover.cpp.

VART::JointMover::~JointMover ( )

Definition at line 35 of file jointmover.cpp.

Member Function Documentation

void VART::JointMover::AddDofMover	(	Joint::DofID	dof,
		float	iniTime,
		float	finTime,
		float	finPos
	)

Creates a DofMover.

Parameters

dof	[in] DOF ID on which the new DOF mover will act
iniTime	[in] Initial movement time (in range [0..1])
finTime	[in] Final movement time (in range [0..1])
finPos	[in] Final movement position (in range [0..1])

Definition at line 59 of file jointmover.cpp.

References VART::DofMover::Initialize(), VART::DofMover::SetDof(), and VART::DofMover::targetDofPtr.

Referenced by VART::XmlJointAction::ParseDofMovement(), and VART::XmlAction::ParseDofMovement().

VART::NoisyDofMover * VART::JointMover::AddNoisyDofMover	(	Joint::DofID	dof,
		float	iniTime,
		float	finTime,
		float	finPos
	)

Creates a noisy DofMover.

Parameters

dof	[in] DOF ID on which the new DOF mover will act
iniTime	[in] Initial movement time (in range [0..1])
finTime	[in] Final movement time (in range [0..1])
finPos	[in] Final movement position (in range [0..1])

Definition at line 72 of file jointmover.cpp.

References VART::NoisyDofMover::Initialize(), VART::DofMover::SetDof(), and VART::DofMover::targetDofPtr.

Referenced by VART::XmlJointAction::ParseDofMovement(), and VART::XmlAction::ParseDofMovement().

void VART::JointMover::AttachToJoint ( Joint * newJointPtr )

inline

Sets the associated joint.

Definition at line 34 of file jointmover.h.

References jointPtr.