A joint with one rotational degrees of freedom. More...

#include <uniaxialjoint.h>

Inheritance diagram for VART::UniaxialJoint:

Public Member Functions
	UniaxialJoint ()
	Creates an uninitialized biaxial (1 DOF) joint. More...

	UniaxialJoint (const VART::UniaxialJoint &joint)
	Creates a copy of an UniaxialJoint. More...

VART::UniaxialJoint &	operator= (const VART::UniaxialJoint &joint)
	Copies all data of an UniaxialJoint to another. More...

virtual VART::SceneNode *	Copy ()
	Returns a copy of an Joint. Every derived class must reimplements this method, to avoid errors with VART::SceneNode::RecursiveCopy. More...

virtual	~UniaxialJoint ()

void	SetFlexionTo (float value)
	Sets the first DOF. More...

void	Flex (float variance)
	Moves the first DOF. More...

virtual void	AddDof (Dof *dof)
	Add a DOF to the joint. More...

virtual Dof *	AddDof (const Point4D &vec, const Point4D &pos, float min, float max)
	Adds a Dof. More...

Public Member Functions inherited from VART::Joint
	Joint ()
	Creates an uninitialized joint. More...

	Joint (const Joint &j)

virtual	~Joint ()

virtual void	CopyDofListFrom (VART::Joint &joint)
	Copy the dofList atribute from an joint, setting the ownerJoint atribute of copied dof to 'this' joint instance. More...

const Joint &	operator= (const Joint &j)

unsigned short int	GetNumDofs () const

void	MakeLim ()
	Updates the LIM, based on DOFs' situation. More...

const Dof &	GetDof (DofID dof) const
	Returns a joint's DOF. More...

void	GetDofs (std::list< Dof * > *dofListPtr)
	Returns all DOFs. More...

DofID	GetDofID (const Dof *dofPtr) const
	Returns the DofID of some member Dof. More...

void	SetAtRest ()
	Put the joint in a rest position. More...

bool	MoveDof (DofID dof, float variance)
	Moves a joint's DOF. More...

bool	HasDof (DofID dof)
	Checks whether a DOF exists in the joint. More...

virtual TypeID	GetID ()
	Returns type identification of the node. More...

virtual void	XmlPrintOn (std::ostream &os, unsigned int indent) const
	Outputs XML representation of the scene. More...

Public Member Functions inherited from VART::Transform
	Transform ()
	Creates an uninitialized transform. More...

	Transform (const Transform &trans)
	Copy constructor. More...

void	MakeIdentity ()
	Turns transform into identity. More...

Point4D	operator* (const Point4D &point) const
	Applies transformation to a point. More...

Transform	operator* (const Transform &t) const
	Applies transformation to another transform. More...

Transform &	operator= (const Transform &t)
	Copies data from anoter transform. More...

void	Apply (const Transform &t)
	Applies a transformation to itself. More...

void	ApplyTo (Point4D *ptPoint) const
	Applies tranformation to a point. More...

void	MakeTranslation (const Point4D &translationVector)
	Turns transform into a translation. More...

void	MakeTranslation (double tx, double ty, double tz)
	Turns transform into a translation. More...

void	MakeXRotation (double radians)
	Turns transform into a rotation around the X axis. More...

void	MakeYRotation (double radians)
	Turns transform into a rotation around the Y axis. More...

void	MakeZRotation (double radians)
	Turns transform into a rotation around the Z axis. More...

void	MakeRotation (const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference vetor). More...

void	MakeRotation (const Point4D &refPoint, const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference axis). More...

void	MakeScale (double sX, double sY, double sZ)
	Turns transform into a scale. More...

void	MakeShear (double shX, double shY)
	Turns transform into a shear. More...

void	SetData (double *data)
	Set all data in the transform. More...

const double *	GetData () const
	Returns the address of transformation matrix. More...

void	GetVectorX (Point4D *result) const
	Returns the X vector of the transform. More...

void	GetVectorY (Point4D *result) const
	Returns the Y vector of the transform. More...

void	GetVectorZ (Point4D *result) const
	Returns the Z vector of the transform. More...

void	GetTranslation (Point4D *result) const
	Returns the translation part of the transform. More...

bool	HasNaN () const
	Check for NaNs inside the matrix. More...

virtual bool	DrawOGL () const
	Apply transform to rendering engine. More...

virtual void	DrawForPicking () const
	Draws and object, setting pick info. More...

virtual TypeID	GetID () const
	Returns type identification of the node. More...

virtual bool	RecursiveBoundingBox (BoundingBox *bBox)
	Returns the recursive bounding box. More...

void	ToggleRecVisibility ()
	Toggles the recursive object's visibility. More...

void	CopyMatrix (const Transform &t)
	Copies matrix data from another transform. More...

Public Member Functions inherited from VART::SceneNode
	SceneNode ()
	Creates an uninitialized scene node. More...

	SceneNode (SceneNode &node)

virtual	~SceneNode ()

SceneNode &	operator= (const SceneNode &node)

virtual SceneNode *	RecursiveCopy ()

const std::string &	GetDescription () const
	Returns a copy of the object's description. More...

void	SetDescription (const std::string &desc)
	Changes the object's description. More...

void	AddChild (SceneNode &child)
	Add a child at the end of child list. More...

bool	DetachChild (SceneNode *childPtr)
	Removes a child from the child list. More...

void	AutoDeleteChildren () const
	Deletes (dealocate memory) recursively all children marked as 'autoDelete'. More...

SceneNode *	FindChildByName (const std::string &name) const
	Recusively searches its children for a given name. More...

std::list< SceneNode * >	GetChilds ()

bool	FindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Search target among children. More...

bool	FindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Search target among children. More...

int	GetNodeTypeList (TypeID type, std::list< SceneNode * > &nodeList)
	Find all the nodes of with typeID 'type'. More...

virtual void	TraverseDepthFirst (SNOperator *operatorPtr) const
	Process all children in depth-first order. More...

virtual void	TraverseBreadthFirst (SNOperator *operatorPtr) const
	Process all children in breadth-first order. More...

virtual void	LocateDepthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (depth first) More...

virtual void	LocateBreadthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (breadth first) More...

Public Member Functions inherited from VART::MemoryObj
	MemoryObj ()
	Default constructor. More...

	MemoryObj (const VART::MemoryObj &obj)
	Copy constructor. More...

Additional Inherited Members
Public Types inherited from VART::Joint
enum	DofID { FLEXION, ADDUCTION, TWIST }

Public Types inherited from VART::SceneNode
enum	TypeID { NONE, GRAPHIC_OBJ, BOX, CONE, CURVE, BEZIER, CYLINDER, IMAGE, IMAGE_2D, VOLUME, MESH_OBJECT, SPHERE, JOINT, BIAXIAL_JOINT, CONDYLAR_JOINT, ELLIPSOID_JOINT, SADDLE_JOINT, PLANE_JOINT, POLYAXIAL_JOINT, UNIAXIAL_JOINT, HINGE_JOINT, PIVOT_JOINT, TRANSFORM }

Public Attributes inherited from VART::MemoryObj
bool	autoDelete

Static Public Attributes inherited from VART::SceneNode
static bool	recursivePrinting = true

Protected Member Functions inherited from VART::SceneNode
virtual bool	DrawInstanceOGL () const
	Non-recursive drawing - should be overriden by every derived class. More...

bool	RecursiveFindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

bool	RecursiveFindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

Protected Attributes inherited from VART::Joint
std::list< Dof * >	dofList

Protected Attributes inherited from VART::Transform
double	matrix [16]

Protected Attributes inherited from VART::SceneNode
std::list< SceneNode * >	childList
	Child list. More...

std::string	description
	Textual identification. More...

Detailed Description

A joint with one rotational degrees of freedom.

FixMe: Put detailed description here.

Definition at line 16 of file uniaxialjoint.h.

Constructor & Destructor Documentation

VART::UniaxialJoint::UniaxialJoint ( )

Creates an uninitialized biaxial (1 DOF) joint.

Before using the joint, one DOF should be added to it.

Definition at line 10 of file uniaxialjoint.cpp.

VART::UniaxialJoint::UniaxialJoint ( const VART::UniaxialJoint & joint )

Creates a copy of an UniaxialJoint.

Definition at line 14 of file uniaxialjoint.cpp.

VART::UniaxialJoint::~UniaxialJoint ( )

virtual

Definition at line 34 of file uniaxialjoint.cpp.

Member Function Documentation

void VART::UniaxialJoint::AddDof ( VART::Dof * dof )

virtual

Add a DOF to the joint.

Parameters

dof	[in] A pointer to the DOF that is to be added.

Only one DOF can be added to a uniaxial joint. Joint's destructor will dealocate DOF marked as autoDelete.

Reimplemented from VART::Joint.

Definition at line 54 of file uniaxialjoint.cpp.

Referenced by VART::XmlScene::LoadSceneNode().

VART::Dof * VART::UniaxialJoint::AddDof	(	const Point4D &	vec,
		const Point4D &	pos,
		float	min,
		float	max
	)

virtual

Adds a Dof.

Parameters

vec	[in] A vector. Together with "pos", defines the rotation axis of the new Dof.
pos	[in] A point. Together with "vec", defines the roatation axis of the new Dof.
min	[in] An angle (radians). Minimal allowed rotation.
max	[in] An angle (radians). Maximal allowed rotation.

Returns: a pointer to the newly created Dof.

Creates a new Dof with given parameters. Attaches the Dof to itself. The memory will be released upon Joint destruction.

Reimplemented from VART::Joint.

Definition at line 45 of file uniaxialjoint.cpp.

VART::SceneNode * VART::UniaxialJoint::Copy ( )

virtual

Returns a copy of an Joint. Every derived class must reimplements this method, to avoid errors with VART::SceneNode::RecursiveCopy.

Reimplemented from VART::Joint.

Definition at line 25 of file uniaxialjoint.cpp.

References VART::Joint::CopyDofListFrom().

void VART::UniaxialJoint::Flex ( float variance )

inline

Moves the first DOF.

Parameters

variance [in] A number in the range [0:1] - will be added to the first DOF's position (see Dof::GetCurrent).

Definition at line 46 of file uniaxialjoint.h.

References VART::Joint::dofList.

VART::UniaxialJoint & VART::UniaxialJoint::operator= ( const VART::UniaxialJoint & joint )

Copies all data of an UniaxialJoint to another.

Definition at line 19 of file uniaxialjoint.cpp.

void VART::UniaxialJoint::SetFlexionTo ( float value )

Sets the first DOF.

Parameters

value [in] A number in the range [0:1] - zero means "set to minimal angle" and 1 means "set to maximal angle".

Definition at line 38 of file uniaxialjoint.cpp.

References VART::Dof::MoveTo().

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation