Sim::Link Class Reference

Link defines a solid and mobile part of the robot. More...

#include <alrobotmodel.h>

Public Types
enum	LinkType { CLASSIC, WHEEL_OMNI }
	link can be classic links as in Denavit-Hartenberg representation, or of specific kind More...

Public Member Functions
	Link ()
	creates an empty Link, you should not use this. More...
virtual	~Link ()
	destructor. More...
const Frame *	frame () const
	returns the Frame of the Link. More...
const std::string &	name () const
	returns the name of the Link. More...
const Joint *	parentJoint () const
	returns the parent joint of the link. Only the root link has no parent joint. More...
const std::vector< const Joint * >	childrenJoints () const
	returns the children joints of the link. A link can have 0 or more children links. More...
const MassData *	mass () const
	returns the MassData of the Link. More...
const std::string &	frictionMaterial () const
	returns the friction material of the Link. More...
const VisualData *	visual () const
	returns the VisualData of the Link. More...
LinkType	type () const
	returns the link type. More...

Public Attributes
class LinkImpl *	a_impl
	private implementation. More...

Detailed Description

Link defines a solid and mobile part of the robot.

Definition at line 521 of file alrobotmodel.h.

Member Enumeration Documentation

enum Sim::Link::LinkType

link can be classic links as in Denavit-Hartenberg representation, or of specific kind

Enumerator
CLASSIC
WHEEL_OMNI

Definition at line 526 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::Link::Link

(

)

creates an empty Link, you should not use this.

Warning

The Link being empty, every access to this object will throw.

virtual Sim::Link::~Link ( )

virtual

destructor.

Member Function Documentation

const std::vector<const Joint*> Sim::Link::childrenJoints

(

)

const

returns the children joints of the link. A link can have 0 or more children links.

const Frame* Sim::Link::frame

(

)

const

returns the Frame of the Link.

Remarks

The Frame of the Link allows defining mass and sensors position in a convenient way. Generally in this frame, the z-axis points up and x points forward. See Hardware section of Motion's documentation for more details.

const std::string& Sim::Link::frictionMaterial

(

)

const

returns the friction material of the Link.

const MassData* Sim::Link::mass

(

)

const

returns the MassData of the Link.

const std::string& Sim::Link::name

(

)

const

returns the name of the Link.

const Joint* Sim::Link::parentJoint

(

)

const

returns the parent joint of the link. Only the root link has no parent joint.

LinkType Sim::Link::type

(

)

const

returns the link type.

const VisualData* Sim::Link::visual

(

)

const

returns the VisualData of the Link.

Member Data Documentation

class LinkImpl* Sim::Link::a_impl

private implementation.

Definition at line 559 of file alrobotmodel.h.

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

• /home/opennao/work/master/simulation/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h