RobotArm Class Reference

Inheritance diagram for RobotArm:

Public Member Functions
float	GetAxisSize ()
void	SetAxisSize (float val)
String	GetName ()
void	SetName (String val)
long	GetToolCount ()
void	SetToolCount (long val)
EnumDHComputeMethod	GetComputeMethod ()
void	SetComputeMethod (EnumDHComputeMethod val)
long	AddJoint (EnumRobotJointType jointType, double alpha, double a, double d, double theta)
RobotJoint	GetJoint (long idx)
long	GetJointCount ()
long	AddLink (long jointIdx, SceneNode bone)
RobotLink	GetLink (long idx)
long	GetLinkCount ()
boolean	UpdateLink (long linkIdx, SceneNode bone)
boolean	RemoveTailJoint ()
long	AddTool (double alpha, double a, double d, double theta, SceneNode tool)
void	ApplyDH ()
boolean	SetValue (long idx, double value)
double	GetValue (long idx)
void	ResetValues ()
void	UpdateFrames ()
Matrix4	GetFinalTransform ()
void	ShowLinks (boolean bShow)
void	ShowJoints (boolean bShow)
Uint32List	SelfCollisionTest ()
RobotArm	CloneRobotArm ()
SceneNode	Clone ()
Public Member Functions inherited from GroupSceneNode
SceneNodeIterator	CreateIterator ()
void	AddNode (SceneNode node)
boolean	RemoveNode (java.math.BigInteger nodeId)
SceneNode	FindNode (java.math.BigInteger nodeId)
void	Clear ()
SceneNode	FindNodeByUserId (java.math.BigInteger userId)
long	GetCount ()
void	UpdateTransform (Matrix4 parent)
Public Member Functions inherited from SceneNode
java.math.BigInteger	GetUserId ()
void	SetUserId (java.math.BigInteger val)
Matrix4	GetTransform ()
void	SetTransform (Matrix4 val)
AxisAlignedBox	GetBoundingBox ()
void	SetBoundingBox (AxisAlignedBox val)
Matrix4	GetWorldTransform ()
AxisAlignedBox	GetWorldBBox ()
boolean	GetCastShadow ()
void	SetCastShadow (boolean val)
boolean	GetPickable ()
void	SetPickable (boolean val)
boolean	GetCulling ()
void	SetCulling (boolean val)
boolean	GetVisible ()
void	SetVisible (boolean val)
boolean	GetChildrenPickable ()
void	SetChildrenPickable (boolean val)
SceneNode	GetParent ()
long	GetUpdateVersion ()
void	SetUpdateVersion (long val)
MaterialInstance	GetOverrideFaceMaterial ()
void	SetOverrideFaceMaterial (MaterialInstance val)
MaterialInstance	GetOverrideEdgeMaterial ()
void	SetOverrideEdgeMaterial (MaterialInstance val)
SceneNode	GetRootNode ()
void	RequstUpdate ()
void	AddTransform (Matrix4 trf)
void	SetWorldTransform (Matrix4 world)
void	UpdateWorldTransform (Matrix4 scene)
AxisAlignedBox	ComputeBoundingBox (Matrix4 parent)
boolean	IsVisiblePath ()
Public Member Functions inherited from GfxObject
long	GetUuid ()

Static Public Member Functions
static RobotArm	Cast (GfxObject obj)

Detailed Description

<>
RobotArm

Member Function Documentation

AddJoint()

long RobotArm.AddJoint	(	EnumRobotJointType	jointType,
		double	alpha,
		double	a,
		double	d,
		double	theta
	)

Add new joint

Parameters

jointType	the joint type.
alpha	alpha parameter
a	a parameter
d	d parameter
theta	theta parameter

Returns

the joint index

AddLink()

long RobotArm.AddLink	(	long	jointIdx,
		SceneNode	bone
	)

Add link to bind the joint.

Parameters

jointIdx	the index of the joint to bind.
bone	the visual node of the link.

Returns

the link index.

AddTool()

long RobotArm.AddTool	(	double	alpha,
		double	a,
		double	d,
		double	theta,
		SceneNode	tool
	)

Add tool with local transform.

Parameters

alpha	parameter
a	parameter
d	parameter
theta	parameter
tool	parameter

Returns

the index.

ApplyDH()

void RobotArm.ApplyDH

(

)

Reset the DH parameters. If changed the DH values, you should call ApplyDH to apply the changes.

Cast()

static RobotArm RobotArm.Cast ( GfxObject  obj )

static

Reimplemented from GroupSceneNode.

Clone()

SceneNode RobotArm.Clone

(

)

Reimplemented from GroupSceneNode.

GetJoint()

RobotJoint RobotArm.GetJoint

(

long

idx

)

Get RobotJoint by index

Parameters

idx

the index

Returns

the robot joint.

GetJointCount()

long RobotArm.GetJointCount

(

)

Get the joint count.

Returns

the count.

RemoveTailJoint()

boolean RobotArm.RemoveTailJoint

(

)

Remove the tail joint and link

Returns

true if successfully.

ResetValues()

void RobotArm.ResetValues

(

)

Set the values to zero.

SelfCollisionTest()

Uint32List RobotArm.SelfCollisionTest

(

)

Self collision testing

Returns

the link id pair.

SetValue()

boolean RobotArm.SetValue	(	long	idx,
		double	value
	)

Update the value of the joint.

ShowJoints()

void RobotArm.ShowJoints

(

boolean

bShow

)

Show the axis.

Parameters

bShow

true to show

ShowLinks()

void RobotArm.ShowLinks

(

boolean

bShow

)

Show the links.

Parameters

bShow

true to show.

UpdateFrames()

void RobotArm.UpdateFrames

(

)

Compute the transform.

UpdateLink()

boolean RobotArm.UpdateLink	(	long	linkIdx,
		SceneNode	bone
	)

Update the link.

Parameters

bone	the new visual node.

Returns

true if successful.