KT_joint Class Reference
[Basic operations]

Provides the data required to define a joint between two links. More...

#include <kt_joint.hxx>

Inheritance diagram for KT_joint:

Collaboration diagram for KT_joint:

List of all members.

Public Types

enum KT_rotate_e {
  ROTATE_SPHERICAL = 0,
  ROTATE_REVOLUTE,
  ROTATE_NONE
}

Enumerator for the rotation types. More...

enum KT_translate_e {
  TRANSLATE_NONE = 0,
  TRANSLATE_I,
  TRANSLATE_J,
  TRANSLATE_K,
  TRANSLATE_ANY
}

Enumerator for the translation types. More...

Public Member Functions

double get_angle () const

For a revolute joint returns the angle between the constrained EDGEs.

double get_distance () const

const KT_geometry_locator * get_locator_1 () const

const KT_geometry_locator * get_locator_2 () const

KT_manipulator * get_manipulator ()

const wchar_t * get_name () const

KT_joint::KT_rotate_e get_rotate_type () const

const SPAinterval & get_translate_interval () const

KT_joint::KT_translate_e get_translate_type () const

virtual char * get_type () const

virtual logical initialize ()

Initialize the joint.

KT_joint (const wchar_t *p_name, KT_manipulator *p_manipulator, KT_geometry_locator *p_locator_1, KT_geometry_locator *p_locator_2, const KT_rotate_e rotate_type, const SPAinterval rotate_interval, const KT_translate_e translate_type, const SPAinterval translate_interval)

Initializes the member variables from the input data.

virtual logical log_step (const int timestep, KT_scene_log_text *p_log)

Adds the joint information to the log for a step.

virtual logical make_cosmetics ()

Make any cosmetic data.

virtual void reset ()

Set joint angles and distances back to their initial positions.

virtual void update ()

Update the joint information from the modified link positions.

Protected Attributes

double m_angle

Angle between the "i" directions of the two locators.

double m_distance

Distance between "common" vertices of the two locators.

KT_geometry_locator * m_locator_1

First locator referenced in the joint.

KT_geometry_locator * m_locator_2

Second locator referenced in the joint.

KT_manipulator * m_manipulator

Owning manipulator.

SPAinterval m_rotate_interval

Range of rotational motion allowed at the joint.

KT_rotate_e m_rotate_type

Type of rotational motion allowed at the joint.

SPAinterval m_translate_interval

Range of translational motion allowed at the joint.

KT_translate_e m_translate_type

Type of translational motion allowed at the joint.

Detailed Description

Provides the data required to define a joint between two links.

This object describes a joint between two links in terms of the movement that is allowed between the links.

It acts as a base class for the addition of solving functionality. It is left up to applications to use the joint description as input to a solver.

Additionaly this base class provides a log of the joint angles or distances each step of a simulation. To customise the logging sub-class the object and override the log_step method.

Two sorts of joint movement are allowed, rotational and translational, the values of the member variales m_rotate_type and m_translate_type are used to control what sort of constraints which are created for in constraint manager workspace.

Member Enumeration Documentation

enum KT_joint::KT_rotate_e

Enumerator for the rotation types.

Enumerator:

ROTATE_SPHERICAL	Allow all rotations. No constrains are created the joint may rotate freely.
ROTATE_REVOLUTE	Align the two i directions. The two "i" direction `EDGEs` of the locators are constrained to be parallel, so only rotation about that axis is allowed.
ROTATE_NONE	Align all directions. The "i" and "j" direction `EDGEs` of the locators are constrained to be parallel, which prevents any rotation at the joint.

enum KT_joint::KT_translate_e

Enumerator for the translation types.

Enumerator:

TRANSLATE_NONE	Fixed in space, the common `VERTEX` of each locator is constrained to be coincident.
TRANSLATE_I	Allow translation along i direction. The `VERTEX` of the second locator is constrained to lie on the "i".
TRANSLATE_J	Allow translation along j direction. The `VERTEX` of the second locator is constrained to lie on the "j" `EDGE` of the first locator.
TRANSLATE_K	Allow translation along k direction. The `VERTEX` of the second locator is constrained to lie on the "k" `EDGE` of the first locator.
TRANSLATE_ANY	Allow translation in any direction.

Constructor & Destructor Documentation

KT_joint::KT_joint	(	const wchar_t *	p_name,
		KT_manipulator *	p_manipulator,
		KT_geometry_locator *	p_locator_1,
		KT_geometry_locator *	p_locator_2,
		const KT_rotate_e	rotate_type,
		const SPAinterval	rotate_interval,
		const KT_translate_e	translate_type,
		const SPAinterval	translate_interval
	)

Initializes the member variables from the input data.

Role:: Creates the object and variables but does not make any geometry until KT_joint::initialize is called.

Note:: There is no order dependency for the locators in the joint in terms of one being the driver or the other driven, however the constraints added to them may be different depending on the type movements allowed at the joint.

Parameters:

	name	Name of the element in the scene.
	p_locator_1	First locator that is constrained by the joint.
	p_locator_2	Second locator that is constrained by the joint.
	rotate_type	The type of rotation that is allowed at the joint
	rotate_interval	The range of the rotation that is allowed.
	rotate_type	The type of translation that is allowed at the joint
	translate_interval	The range of the translation that is allowed.

Member Function Documentation

double KT_joint::get_angle ( ) const

For a revolute joint returns the angle between the constrained EDGEs.

double KT_joint::get_distance ( ) const

Returns:: the distance between the common VERTEX at the joint.

const KT_geometry_locator* KT_joint::get_locator_1 ( ) const [inline]

Returns:: the first locator referenced in the joint.

const KT_geometry_locator* KT_joint::get_locator_2 ( ) const [inline]

Returns:: the second locator referenced in the joint.

KT_manipulator* KT_joint::get_manipulator ( ) [inline]

Returns:: Pointer to the owning manipulator for this joint

const wchar_t* KT_list_entry::get_name ( ) const [inline, inherited]

Returns:: entry's name

KT_joint::KT_rotate_e KT_joint::get_rotate_type ( ) const [inline]

Returns:: the rotation allowed for the joint.

const SPAinterval& KT_joint::get_translate_interval ( ) const [inline]

Returns:: the range of translation for the joint.

KT_joint::KT_translate_e KT_joint::get_translate_type ( ) const [inline]

Returns:: the translation allowed for the joint.

virtual char* KT_joint::get_type ( ) const [inline, virtual]

Returns:: the name of the object (for parsing).

Implements KT_list_entry.

Reimplemented in KT_GGCM_joint.

virtual logical KT_joint::initialize ( ) [virtual]

Initialize the joint.

Role:: This method does nothing in the base class but is provided so that sub-classes can add constraints to the joint.

virtual logical KT_joint::log_step	(	const int	timestep,
		KT_scene_log_text *	p_log
	)			`[virtual]`

Adds the joint information to the log for a step.

Parameters:

	timestep	The current timestep in the simulation.
	p_log	Text item to log text into.

virtual logical KT_joint::make_cosmetics ( ) [virtual]

Make any cosmetic data.

virtual void KT_joint::reset ( ) [virtual]

Set joint angles and distances back to their initial positions.

virtual void KT_joint::update ( ) [virtual]

Update the joint information from the modified link positions.

Note:: Should be called after the scene has been solved to update the joint angles and distances before logging occurs.

Member Data Documentation

double KT_joint::m_angle [protected]

Angle between the "i" directions of the two locators.

double KT_joint::m_distance [protected]

Distance between "common" vertices of the two locators.

KT_geometry_locator* KT_joint::m_locator_1 [protected]

First locator referenced in the joint.

KT_geometry_locator* KT_joint::m_locator_2 [protected]

Second locator referenced in the joint.

KT_manipulator* KT_joint::m_manipulator [protected]

Owning manipulator.

SPAinterval KT_joint::m_rotate_interval [protected]

Range of rotational motion allowed at the joint.

KT_rotate_e KT_joint::m_rotate_type [protected]

Type of rotational motion allowed at the joint.

SPAinterval KT_joint::m_translate_interval [protected]

Range of translational motion allowed at the joint.

KT_translate_e KT_joint::m_translate_type [protected]

Type of translational motion allowed at the joint.


Public Types
enum	KT_rotate_e { ROTATE_SPHERICAL = 0, ROTATE_REVOLUTE, ROTATE_NONE }
	Enumerator for the rotation types. More...
enum	KT_translate_e { TRANSLATE_NONE = 0, TRANSLATE_I, TRANSLATE_J, TRANSLATE_K, TRANSLATE_ANY }
	Enumerator for the translation types. More...
Public Member Functions
double	get_angle () const
	For a revolute joint returns the angle between the constrained EDGEs.
double	get_distance () const
const KT_geometry_locator *	get_locator_1 () const
const KT_geometry_locator *	get_locator_2 () const
KT_manipulator *	get_manipulator ()
const wchar_t *	get_name () const
KT_joint::KT_rotate_e	get_rotate_type () const
const SPAinterval &	get_translate_interval () const
KT_joint::KT_translate_e	get_translate_type () const
virtual char *	get_type () const
virtual logical	initialize ()
	Initialize the joint.
	KT_joint (const wchar_t p_name, KT_manipulator p_manipulator, KT_geometry_locator p_locator_1, KT_geometry_locator p_locator_2, const KT_rotate_e rotate_type, const SPAinterval rotate_interval, const KT_translate_e translate_type, const SPAinterval translate_interval)
	Initializes the member variables from the input data.
virtual logical	log_step (const int timestep, KT_scene_log_text *p_log)
	Adds the joint information to the log for a step.
virtual logical	make_cosmetics ()
	Make any cosmetic data.
virtual void	reset ()
	Set joint angles and distances back to their initial positions.
virtual void	update ()
	Update the joint information from the modified link positions.
Protected Attributes
double	m_angle
	Angle between the "i" directions of the two locators.
double	m_distance
	Distance between "common" vertices of the two locators.
KT_geometry_locator *	m_locator_1
	First locator referenced in the joint.
KT_geometry_locator *	m_locator_2
	Second locator referenced in the joint.
KT_manipulator *	m_manipulator
	Owning manipulator.
SPAinterval	m_rotate_interval
	Range of rotational motion allowed at the joint.
KT_rotate_e	m_rotate_type
	Type of rotational motion allowed at the joint.
SPAinterval	m_translate_interval
	Range of translational motion allowed at the joint.
KT_translate_e	m_translate_type
	Type of translational motion allowed at the joint.

KT_joint Class Reference [Basic operations]

Public Types