Dtk_KinJoint represents a joint to define a mechanism. More...

Inheritance diagram for Dtk_KinJoint:

Public Member Functions
void	addAttribute (Dtk_string inAttribute)
	Add inAttribute at the attribute table. More...

void	addConnector (Dtk_KinConnectorPtr inConnector)
	Add connector at the connector table. More...

void	addConstraint (Dtk_KinConstraintPtr inConstraint)
	Add constraint at the constraint table. More...

Dtk_Int32	DtkDynamicType (const Dtk_Int32 &inId)
	Retrieves the dynamic entity type. More...

virtual int	DtkDynamicType (const int &inId)=0

virtual void	dump (FILE *file=stdout)

Dtk_status	Dump (FILE *inFile, Dtk_bool simplified)
	Write Dump file for joint. More...

type_detk	get_type_detk () const

Dtk_transfo	getAbsolutPos1 ()
	Returns the part 1 absolute position. More...

Dtk_transfo	getAbsolutPos2 ()
	Returns the part 2 absolute position. More...

Dtk_string	getAttribute (Dtk_Size_t inPosition)
	Returns Dtk_string at position inPosition. More...

Dtk_Size_t	getAttributeSize ()
	Return the attribute tab size. More...

int	getCompoundType ()
	Returns the compound type attribute. More...

Dtk_KinConnectorPtr	getConnector (Dtk_Size_t inPosition)
	Returns Connector at position inPosition. More...

Dtk_Size_t	getConnectorSize ()
	Return the attribute tab size. More...

Dtk_KinConnectorTab	getConnectorTab ()
	Return the connector tab. More...

Dtk_KinConstraintPtr	getConstraint (Dtk_Size_t inPosition)
	Returns Constraint at position inPosition. More...

Dtk_Size_t	getConstraintSize ()
	Return the attribute tab size. More...

Dtk_KinConstraintPtr	getFixTogether ()
	Returns the fix together constraint. More...

int	getId ()
	Retrun the joint id. More...

Dtk_KinJointPtr	getJoint1 ()
	Returns the first joint associated at the joint. More...

Dtk_KinJointPtr	getJoint2 ()
	Returns the second joint associated at the joint. More...

Dtk_transfo	getLocalFrame1 ()
	Returns the local frame 1 value. More...

Dtk_transfo	getLocalFrame2 ()
	Returns the local frame 2 value. More...

Dtk_transfo	getLocalFrame3 ()
	Returns the local frame 3 value. More...

Dtk_transfo	getLocalFrame4 ()
	Returns the local frame 4 value. More...

double	getLowerLimit1 ()
	Returns the lower limit 1. More...

double	getLowerLimit2 ()
	Returns the lower limit 2. More...

Dtk_string	getName ()
	Returns the joint name. More...

double	getParameter1 ()
	Returns the first parameter. More...

double	getParameter2 ()
	Returns the second parameter. More...

Dtk_KinPartPtr	getPart1 ()
	Returns the first part associated at the joint. More...

Dtk_KinPartPtr	getPart2 ()
	Returns the second part associated at the joint. More...

Dtk_KinPartPtr	getPart3 ()
	Returns the third part associated at the joint. More...

double	getRatio ()
	Returns the joint ratio value. More...

Dtk_KinParameterPtr	getRatioParameter ()
	Returns the Dtk_KinParameter ratio of the joint. More...

virtual Dtk_Size_t	GetSize () const

JOINT_TYPE	getType ()
	Returns the joint type. More...

double	getUpperLimit1 ()
	Returns the upper limit 1. More...

double	getUpperLimit2 ()
	Returns the upper limit 2. More...

Dtk_bool	hasAttribute (Dtk_string inAttributeName)
	Test if an attribute name belong at the attribute table. More...

Dtk_bool	hasConstraint (Dtk_KinConstraintPtr inConstraint)
	Test if a constraint belong at the constraint table. More...

Dtk_bool	isEqual (Dtk_KinJointPtr inJoint)
	Test if 2 Dtk_KinJoint is equal. More...

Dtk_bool	operator== (Dtk_KinJoint &inJoint)
	Test if 2 Dtk_KinJoint is equal. More...

void	setAbsolutPos1 (Dtk_transfo inTransfo)
	Sets the absolute position for part 1. More...

void	setAbsolutPos2 (Dtk_transfo inTransfo)
	Sets the absolute position for part 2. More...

void	setCompoundType (int inCompoundtype)
	Sets the compound type. More...

void	setFixTogether (Dtk_KinConstraintPtr inFix)
	Sets the fix together constraint of the joint. More...

void	setId (int inId)
	Sets the joint id. More...

void	setJoint1 (Dtk_KinJointPtr inJoint)
	Sets the first joint associated at the joint. More...

void	setJoint2 (Dtk_KinJointPtr inJoint)
	Sets the second joint associated at the joint. More...

void	setLocalFrame1 (Dtk_transfo inTransfo)
	Sets the local frame 1. More...

void	setLocalFrame2 (Dtk_transfo inTransfo)
	Sets the local frame 2. More...

void	setLocalFrame3 (Dtk_transfo inTransfo)
	Sets the local frame 3. More...

void	setLocalFrame4 (Dtk_transfo inTransfo)
	Sets the local frame 4. More...

void	setLowerLimit1 (double inVal)
	Sets the lower limit for the first parameter of joint. More...

void	setLowerLimit2 (double inVal)
	Sets the lower limit for the second parameter of joint. More...

void	setName (Dtk_string inName)
	Sets the joint name. More...

void	setParameter1 (double inParam)
	Sets the first parameter of the joint. More...

void	setParameter2 (double inParam)
	Sets the second parameter of the joint. More...

void	setPart1 (Dtk_KinPartPtr inPart)
	Sets the first part associated at the joint. More...

void	setPart2 (Dtk_KinPartPtr inPart)
	Sets the second part associated at the joint. More...

void	setPart3 (Dtk_KinPartPtr inPart)
	Sets the third part associated at the joint. More...

void	setRatio (double inVal)
	Sets the ratio value of the joint. More...

void	setRatioParameter (Dtk_KinParameterPtr inParam)
	Sets the joint Dtk_KinParameter ratio. More...

void	setType (int inType)
	Sets the type of the joint. More...

void	setUpperLimit1 (double inVal)
	Sets the upper limit for the first parameter of joint. More...

void	setUpperLimit2 (double inVal)
	Sets the upper limit for the second parameter of joint. More...

Dtk_ErrorStatus	Transform (const Dtk_transfo &inTransfo)

Static Public Member Functions
static Dtk_KinJointPtr	Create ()
	Calls default constructor to allocate a new object. More...

static Dtk_KinJoint *	DtkDynamicCast (Dtk_Object *s)
	Performs a dynamic cast - doesn't need RTTI -. More...

static Dtk_KinJointPtr	release (Dtk_KinJointPtr inJoint)
	Delete object. More...

Data Fields
Dtk_string	_ABSOLUT_POS1
	Name for optional attribute. More...

Dtk_string	_ABSOLUT_POS2
	Name for optional attribute. More...

Dtk_string	_CONNECTOR
	Name for optional attribute. More...

Dtk_string	_CONSTRAINT
	Name for optional attribute. More...

Dtk_string	_FIX_TOGETHER
	Name for optional attribute. More...

Dtk_string	_JOINT1
	Name for optional attribute. More...

Dtk_string	_JOINT2
	Name for optional attribute. More...

Dtk_string	_LOCAL_FRAME3
	Name for optional attribute. More...

Dtk_string	_LOCAL_FRAME4
	Name for optional attribute. More...

Dtk_string	_LOWER_LIMIT1
	Name for optional attribute. More...

Dtk_string	_LOWER_LIMIT2
	Name for optional attribute. More...

Dtk_string	_PARAMETER1
	Name for optional attribute. More...

Dtk_string	_PARAMETER2
	Name for optional attribute. More...

Dtk_string	_PART3
	Name for optional attribute. More...

Dtk_string	_RATIO
	Name for optional attribute. More...

Dtk_string	_RATIO_PARAMETER
	Name for optional attribute. More...

Dtk_string	_UPPER_LIMIT1
	Name for optional attribute. More...

Dtk_string	_UPPER_LIMIT2
	Name for optional attribute. More...

Protected Types
enum	{ _typeID = DTK_TYPE_OBJECT }

enum	{ _typeID = DTK_TYPE_KIN_JOINT }

Protected Member Functions
	Dtk_KinJoint ()
	Default constructor. More...

	Dtk_KinJoint (const Dtk_KinJoint &joint)
	Copy constructor. More...

	~Dtk_KinJoint ()
	Destructor. More...

Protected Attributes
Dtk_transfo	_absolutepos1
	Optional attribute. More...

Dtk_transfo	_absolutepos2
	Optional attribute. More...

Dtk_StringTab	_attributeTable
	Contains the names of the defining optional attributes forced. More...

int	_compoundType

Dtk_KinConnectorTab	_connectors
	Optional attribute. All connectors are defined at the specific part. More...

Dtk_KinConstraintTab	_constraints
	Optional attribute. All constraints are defined at the kinematic constraint table. More...

Dtk_KinConstraintPtr	_fixTogether
	Optional attribute only with rigid joint. This constaint is defined at the kinematic constraint table. More...

int	_ID

Dtk_KinJointPtr	_joint1
	Optional attribute only with compound joint. This joint est defined at the kinematic joint table. More...

Dtk_KinJointPtr	_joint2
	Optional attribute only with compound joint This joint est defined at the kinematic joint table. More...

Dtk_transfo	_localframe1

Dtk_transfo	_localframe2

Dtk_transfo	_localframe3
	Optional attribute only with compound joint. More...

Dtk_transfo	_localframe4
	Optional attribute only with compound joint. More...

double	_lowerlimit1
	Optional attribute. More...

double	_lowerlimit2
	Optional attribute. More...

Dtk_string	_name

double	_parameter1
	Optional attribute. More...

double	_parameter2
	Optional attribute. More...

Dtk_KinPartPtr	_part1
	This part is defined at the kinematic part table. More...

Dtk_KinPartPtr	_part2
	This part is defined at the kinematic part table. More...

Dtk_KinPartPtr	_part3
	Optional attribute only with compound joint. This part is defined at the kinematic part table. More...

double	_ratio
	Optional attribute. More...

Dtk_KinParameterPtr	_ratioParm
	Optional attribute. More...

JOINT_TYPE	_type

double	_upperlimit1
	Optional attribute. More...

double	_upperlimit2
	Optional attribute. More...

unsigned long	count_

Detailed Description

Dtk_KinJoint represents a joint to define a mechanism.

Joints types:

prismatic
revolute
rigid
spherical
point curve
slide curve
roll
cylindrical
universal joint
CV joint
gear
rack
cable
screw
point surface
planar

A joint is linked at a kinematic object, a mechanism object and a command object.

See also: Use Dtk_KinJointPtr class to handle it.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protectedinherited

Enumerator
_typeID

10 { _typeID = DTK_TYPE_OBJECT };

◆ anonymous enum

anonymous enum

protected

Enumerator
_typeID

                {
                _typeID = DTK_TYPE_KIN_JOINT
           };

Constructor & Destructor Documentation

◆ Dtk_KinJoint() [1/2]

Dtk_KinJoint::Dtk_KinJoint ( )

protected

Default constructor.

◆ Dtk_KinJoint() [2/2]

Dtk_KinJoint::Dtk_KinJoint ( const Dtk_KinJoint & joint )

protected

Copy constructor.

Parameters

joint the Dtk_KinJoint to be copied

◆ ~Dtk_KinJoint()

Dtk_KinJoint::~Dtk_KinJoint ( )

protected

Destructor.

Member Function Documentation

◆ addAttribute()

void Dtk_KinJoint::addAttribute ( Dtk_string inAttribute )

Add inAttribute at the attribute table.

Parameters

inAttribute Attribute name to be added

If the attribute table doesn't contain inAttribute, add inAttribute at the attribute table

◆ addConnector()

void Dtk_KinJoint::addConnector ( Dtk_KinConnectorPtr inConnector )

Add connector at the connector table.

Parameters

inConnector connector to be added

If the connector table doesn't contain inConnector, the connector added

The CONNECTOR name is added at attribute table.

◆ addConstraint()

void Dtk_KinJoint::addConstraint ( Dtk_KinConstraintPtr inConstraint )

Add constraint at the constraint table.

Parameters

inConstraint constraint to be added

If the constraint table doesn't contain inConstraint, the constraint added

The CONSTRAINT name is added at attribute table.

◆ Create()

static Dtk_KinJointPtr Dtk_KinJoint::Create ( )

static

Calls default constructor to allocate a new object.

◆ DtkDynamicCast()

static Dtk_KinJoint* Dtk_KinJoint::DtkDynamicCast ( Dtk_Object * s )

static

Performs a dynamic cast - doesn't need RTTI -.

           { 
                if(s->DtkDynamicType(_typeID)) 
                     return static_cast<Dtk_KinJoint*>(s); 
                return NULL; 
           } 

◆ DtkDynamicType() [1/2]

Dtk_Int32 Dtk_KinJoint::DtkDynamicType ( const Dtk_Int32 & inId )

Retrieves the dynamic entity type.

           { 
                if (inId == _typeID)
                {
                     return 1; 
                }
                return Dtk_Object::DtkDynamicType(inId); 
           }

◆ DtkDynamicType() [2/2]

virtual int Dtk_Object::DtkDynamicType ( const int & inId )

pure virtualinherited

◆ dump()

virtual void Dtk_Object::dump ( FILE * file = stdout )

virtualinherited

◆ Dump()

Dtk_status Dtk_KinJoint::Dump	(	FILE *	inFile,
		Dtk_bool	simplified
	)

Write Dump file for joint.

Parameters

inFile	the output file
simplified	determine if you write a simplified file

Sample

Dtk_string fileName = ...;
File * file = fileName.ouvrir_fichier(DTK_W);
 
Dtk_KinJoint joint;
joint.setName(Dtk_string("sample joint"));
joint.setId(1);
joint.Dump(file, true);

Result (simplified = true)

</joint>

Result (simplified = false)
All attributes are represented. Some attributes could not appear into out file.

<joint name="sample joint" id="1">
  <attributJoint type="" compoundType="" parameter1="" parameter2="" ratio="">
    <limit upperLimit1="" lowerLimit1="" upperLimit2="" lowerLimit2=""/>
    <localFrame1 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
    <localFrame2 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
    <localFrame3 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
    <localFrame4 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
    <absolutePos1 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
    <absolutePos2 nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
  </attributJoint>
  <parts>
    <!-- Parts associated at constraint -->
    <!-- part.Dump(inFile, true)  -->
  </parts>
  <constraints>
    <!-- Constraints associated at joint -->
    <!-- constraint.Dump(inFile, true)  -->
  </constraints>
  <connector>
    <!-- Connectors associated at joint -->
    <!-- connector.Dump(inFile, true) -->
  </connectors>
  <!-- parameter.Dump(inFile) -->
  <joints>
    <!-- Joints associated at joint -->
    <!-- joint.Dump(inFile, true)  -->
  </joints>
</joint>

◆ get_type_detk()

type_detk Dtk_KinJoint::get_type_detk ( ) const

Returns: The type of the entity type - DTK_TYPE_KIN_JOINT -

916 { return DTK_TYPE_KIN_JOINT; }

◆ getAbsolutPos1()

Dtk_transfo Dtk_KinJoint::getAbsolutPos1 ( )

Returns the part 1 absolute position.

◆ getAbsolutPos2()

Dtk_transfo Dtk_KinJoint::getAbsolutPos2 ( )

Returns the part 2 absolute position.

◆ getAttribute()

Dtk_string Dtk_KinJoint::getAttribute ( Dtk_Size_t inPosition )

Returns Dtk_string at position inPosition.

Parameters

inPosition position of element

If position is out bounds, returns Dtk_string()

◆ getAttributeSize()

Dtk_Size_t Dtk_KinJoint::getAttributeSize ( )

Return the attribute tab size.

◆ getCompoundType()

int Dtk_KinJoint::getCompoundType ( )

Returns the compound type attribute.

◆ getConnector()

Dtk_KinConnectorPtr Dtk_KinJoint::getConnector ( Dtk_Size_t inPosition )

Returns Connector at position inPosition.

Parameters

inPosition position of element

If the position is out bounds of connector table, returns NULL

◆ getConnectorSize()

Dtk_Size_t Dtk_KinJoint::getConnectorSize ( )

Return the attribute tab size.

◆ getConnectorTab()

Dtk_KinConnectorTab Dtk_KinJoint::getConnectorTab ( )

Return the connector tab.

◆ getConstraint()

Dtk_KinConstraintPtr Dtk_KinJoint::getConstraint ( Dtk_Size_t inPosition )

Returns Constraint at position inPosition.

Parameters

inPosition position of element

If the position is out bounds of constraint table, returns NULL

◆ getConstraintSize()

Dtk_Size_t Dtk_KinJoint::getConstraintSize ( )

Return the attribute tab size.

◆ getFixTogether()

Dtk_KinConstraintPtr Dtk_KinJoint::getFixTogether ( )

Returns the fix together constraint.

◆ getId()

int Dtk_KinJoint::getId ( )

Retrun the joint id.

◆ getJoint1()

Dtk_KinJointPtr Dtk_KinJoint::getJoint1 ( )

Returns the first joint associated at the joint.

◆ getJoint2()

Dtk_KinJointPtr Dtk_KinJoint::getJoint2 ( )

Returns the second joint associated at the joint.

◆ getLocalFrame1()

Dtk_transfo Dtk_KinJoint::getLocalFrame1 ( )

Returns the local frame 1 value.

◆ getLocalFrame2()

Dtk_transfo Dtk_KinJoint::getLocalFrame2 ( )

Returns the local frame 2 value.

◆ getLocalFrame3()

Dtk_transfo Dtk_KinJoint::getLocalFrame3 ( )

Returns the local frame 3 value.

◆ getLocalFrame4()

Dtk_transfo Dtk_KinJoint::getLocalFrame4 ( )

Returns the local frame 4 value.

◆ getLowerLimit1()

double Dtk_KinJoint::getLowerLimit1 ( )

Returns the lower limit 1.

◆ getLowerLimit2()

double Dtk_KinJoint::getLowerLimit2 ( )

Returns the lower limit 2.

◆ getName()

Dtk_string Dtk_KinJoint::getName ( )

Returns the joint name.

◆ getParameter1()

double Dtk_KinJoint::getParameter1 ( )

Returns the first parameter.

◆ getParameter2()

double Dtk_KinJoint::getParameter2 ( )

Returns the second parameter.

◆ getPart1()

Dtk_KinPartPtr Dtk_KinJoint::getPart1 ( )

Returns the first part associated at the joint.

◆ getPart2()

Dtk_KinPartPtr Dtk_KinJoint::getPart2 ( )

Returns the second part associated at the joint.

◆ getPart3()

Dtk_KinPartPtr Dtk_KinJoint::getPart3 ( )

Returns the third part associated at the joint.

◆ getRatio()

double Dtk_KinJoint::getRatio ( )

Returns the joint ratio value.

◆ getRatioParameter()

Dtk_KinParameterPtr Dtk_KinJoint::getRatioParameter ( )

Returns the Dtk_KinParameter ratio of the joint.

◆ GetSize()

virtual Dtk_Size_t Dtk_Object::GetSize ( ) const

virtualinherited

◆ getType()

JOINT_TYPE Dtk_KinJoint::getType ( )

Returns the joint type.

◆ getUpperLimit1()

double Dtk_KinJoint::getUpperLimit1 ( )

Returns the upper limit 1.

◆ getUpperLimit2()

double Dtk_KinJoint::getUpperLimit2 ( )

Returns the upper limit 2.

◆ hasAttribute()

Dtk_bool Dtk_KinJoint::hasAttribute ( Dtk_string inAttributeName )

Test if an attribute name belong at the attribute table.

Parameters

inAtributeName Name of attribute

The attribute table contains names of optional attribute used. The attribute name is defined with static variable.

◆ hasConstraint()

Dtk_bool Dtk_KinJoint::hasConstraint ( Dtk_KinConstraintPtr inConstraint )

Test if a constraint belong at the constraint table.

Parameters

inConstraint Constraint to be tested

◆ isEqual()

Dtk_bool Dtk_KinJoint::isEqual ( Dtk_KinJointPtr inJoint )

Test if 2 Dtk_KinJoint is equal.

Compare the id attributes.

Parameters

inPart Dtk_KinJoint to be tested

◆ operator==()

Dtk_bool Dtk_KinJoint::operator== ( Dtk_KinJoint & inJoint )

Test if 2 Dtk_KinJoint is equal.

Compare the id attributes.

Parameters

inPart Dtk_KinJoint to be tested

◆ release()

static Dtk_KinJointPtr Dtk_KinJoint::release ( Dtk_KinJointPtr inJoint )

static

Delete object.

◆ setAbsolutPos1()

void Dtk_KinJoint::setAbsolutPos1 ( Dtk_transfo inTransfo )

Sets the absolute position for part 1.

Parameters

inTransfo Absolute position to be set

The ABSOLUT_POS1 name is added at attribute table.

◆ setAbsolutPos2()

void Dtk_KinJoint::setAbsolutPos2 ( Dtk_transfo inTransfo )

Sets the absolute position for part 2.

Parameters

inTransfo Absolute position to be set

The ABSOLUT_POS2 name is added at attribute table

◆ setCompoundType()

void Dtk_KinJoint::setCompoundType ( int inCompoundtype )

Sets the compound type.

Parameters

inCompoundType compound type

◆ setFixTogether()

void Dtk_KinJoint::setFixTogether ( Dtk_KinConstraintPtr inFix )

Sets the fix together constraint of the joint.

Parameters

inFix FixTogether constraint to be added

The FIX_TOGETHER name is added at attribute table

◆ setId()

void Dtk_KinJoint::setId ( int inId )

Sets the joint id.

Parameters

inId joint id

◆ setJoint1()

void Dtk_KinJoint::setJoint1 ( Dtk_KinJointPtr inJoint )

Sets the first joint associated at the joint.

Parameters

inJoint Joint to be associated at the joint

The JOINT1 name is added at attribute table.

◆ setJoint2()

void Dtk_KinJoint::setJoint2 ( Dtk_KinJointPtr inJoint )

Sets the second joint associated at the joint.

Parameters

inJoint Joint to be associated at the joint

The JOINT2 name is added at attribute table

◆ setLocalFrame1()

void Dtk_KinJoint::setLocalFrame1 ( Dtk_transfo inTransfo )

Sets the local frame 1.

Parameters

inTransfo Local frame to be set

◆ setLocalFrame2()

void Dtk_KinJoint::setLocalFrame2 ( Dtk_transfo inTransfo )

Sets the local frame 2.

Parameters

inTransfo Local frame to be set

◆ setLocalFrame3()

void Dtk_KinJoint::setLocalFrame3 ( Dtk_transfo inTransfo )

Sets the local frame 3.

Parameters

inTransfo Local frame to be set

◆ setLocalFrame4()

void Dtk_KinJoint::setLocalFrame4 ( Dtk_transfo inTransfo )

Sets the local frame 4.

Parameters

inTransfo Local frame to be set

◆ setLowerLimit1()

void Dtk_KinJoint::setLowerLimit1 ( double inVal )

Sets the lower limit for the first parameter of joint.

Parameters

inVal Value for the lower limit 1

The LOWER_LIMIT1 name is added at attribute table.

◆ setLowerLimit2()

void Dtk_KinJoint::setLowerLimit2 ( double inVal )

Sets the lower limit for the second parameter of joint.

Parameters

inVal Value for the lower limit 2

The LOWER_LIMIT2 name is added at attribute table.

◆ setName()

void Dtk_KinJoint::setName ( Dtk_string inName )

Sets the joint name.

Parameters

inName joint name

◆ setParameter1()

void Dtk_KinJoint::setParameter1 ( double inParam )

Sets the first parameter of the joint.

Parameters

inParam parameter 1 of the joint

The PARAMETER1 name is added at attribute table.

◆ setParameter2()

void Dtk_KinJoint::setParameter2 ( double inParam )

Sets the second parameter of the joint.

Parameters

inParam parameter 2 of the joint

The PARAMETER2 name is added at attribute table.

◆ setPart1()

void Dtk_KinJoint::setPart1 ( Dtk_KinPartPtr inPart )

Sets the first part associated at the joint.

Parameters

inPart Part to be associated at the joint

◆ setPart2()

void Dtk_KinJoint::setPart2 ( Dtk_KinPartPtr inPart )

Sets the second part associated at the joint.

Parameters

inPart Part to be associated at the joint

◆ setPart3()

void Dtk_KinJoint::setPart3 ( Dtk_KinPartPtr inPart )

Sets the third part associated at the joint.

Parameters

inPart Part to be associated at the joint

The PART3 name is added at attribute table.

◆ setRatio()

void Dtk_KinJoint::setRatio ( double inVal )

Sets the ratio value of the joint.

Parameters

inVal Value of the joint ratio

The RATIO name is added at attribute table

◆ setRatioParameter()

void Dtk_KinJoint::setRatioParameter ( Dtk_KinParameterPtr inParam )

Sets the joint Dtk_KinParameter ratio.

Parameters

inParam Ratio parameter

The RATIO_PARAMETER name is added at attribute table

◆ setType()

void Dtk_KinJoint::setType ( int inType )

Sets the type of the joint.

Parameters

inType type of the joint

◆ setUpperLimit1()

void Dtk_KinJoint::setUpperLimit1 ( double inVal )

Sets the upper limit for the first parameter of joint.

Parameters

inVal Value for the upper limit 1

The UPPER_LIMIT1 name is added at attribute table.

◆ setUpperLimit2()

void Dtk_KinJoint::setUpperLimit2 ( double inVal )

Sets the upper limit for the second parameter of joint.

Parameters

inVal Value for the upper limit 2

The UPPER_LIMIT2 name is added at attribute table.

◆ Transform()

Dtk_ErrorStatus Dtk_KinJoint::Transform ( const Dtk_transfo & inTransfo )

Field Documentation

◆ _ABSOLUT_POS1

Dtk_string Dtk_KinJoint::_ABSOLUT_POS1

Name for optional attribute.

◆ _ABSOLUT_POS2

Dtk_string Dtk_KinJoint::_ABSOLUT_POS2

Name for optional attribute.

◆ _absolutepos1

Dtk_transfo Dtk_KinJoint::_absolutepos1

protected

Optional attribute.

◆ _absolutepos2

Dtk_transfo Dtk_KinJoint::_absolutepos2

protected

Optional attribute.

◆ _attributeTable

Dtk_StringTab Dtk_KinJoint::_attributeTable

protected

Contains the names of the defining optional attributes forced.

◆ _compoundType

int Dtk_KinJoint::_compoundType

protected

Compound joint

0: not compound
1: compound

◆ _CONNECTOR

Dtk_string Dtk_KinJoint::_CONNECTOR

Name for optional attribute.

◆ _connectors

Dtk_KinConnectorTab Dtk_KinJoint::_connectors

protected

Optional attribute. All connectors are defined at the specific part.

◆ _CONSTRAINT

Dtk_string Dtk_KinJoint::_CONSTRAINT

Name for optional attribute.

◆ _constraints

Dtk_KinConstraintTab Dtk_KinJoint::_constraints

protected

Optional attribute. All constraints are defined at the kinematic constraint table.

◆ _FIX_TOGETHER

Dtk_string Dtk_KinJoint::_FIX_TOGETHER

Name for optional attribute.

◆ _fixTogether

Dtk_KinConstraintPtr Dtk_KinJoint::_fixTogether

protected

Optional attribute only with rigid joint. This constaint is defined at the kinematic constraint table.

◆ _ID

int Dtk_KinJoint::_ID

protected

◆ _JOINT1

Dtk_string Dtk_KinJoint::_JOINT1

Name for optional attribute.

◆ _joint1

Dtk_KinJointPtr Dtk_KinJoint::_joint1

protected

Optional attribute only with compound joint. This joint est defined at the kinematic joint table.

◆ _JOINT2

Dtk_string Dtk_KinJoint::_JOINT2

Name for optional attribute.

◆ _joint2

Dtk_KinJointPtr Dtk_KinJoint::_joint2

protected

Optional attribute only with compound joint This joint est defined at the kinematic joint table.

◆ _LOCAL_FRAME3

Dtk_string Dtk_KinJoint::_LOCAL_FRAME3

Name for optional attribute.

◆ _LOCAL_FRAME4

Dtk_string Dtk_KinJoint::_LOCAL_FRAME4

Name for optional attribute.

◆ _localframe1

Dtk_transfo Dtk_KinJoint::_localframe1

protected

◆ _localframe2

Dtk_transfo Dtk_KinJoint::_localframe2

protected

◆ _localframe3

Dtk_transfo Dtk_KinJoint::_localframe3

protected

Optional attribute only with compound joint.

◆ _localframe4

Dtk_transfo Dtk_KinJoint::_localframe4

protected

Optional attribute only with compound joint.

◆ _LOWER_LIMIT1

Dtk_string Dtk_KinJoint::_LOWER_LIMIT1

Name for optional attribute.

◆ _LOWER_LIMIT2

Dtk_string Dtk_KinJoint::_LOWER_LIMIT2

Name for optional attribute.

◆ _lowerlimit1

double Dtk_KinJoint::_lowerlimit1

protected

Optional attribute.

◆ _lowerlimit2

double Dtk_KinJoint::_lowerlimit2

protected

Optional attribute.

◆ _name

Dtk_string Dtk_KinJoint::_name

protected

◆ _PARAMETER1

Dtk_string Dtk_KinJoint::_PARAMETER1

Name for optional attribute.

◆ _parameter1

double Dtk_KinJoint::_parameter1

protected

Optional attribute.

◆ _PARAMETER2

Dtk_string Dtk_KinJoint::_PARAMETER2

Name for optional attribute.

◆ _parameter2

double Dtk_KinJoint::_parameter2

protected

Optional attribute.

◆ _part1

Dtk_KinPartPtr Dtk_KinJoint::_part1

protected

This part is defined at the kinematic part table.

◆ _part2

Dtk_KinPartPtr Dtk_KinJoint::_part2

protected

This part is defined at the kinematic part table.

◆ _PART3

Dtk_string Dtk_KinJoint::_PART3

Name for optional attribute.

◆ _part3

Dtk_KinPartPtr Dtk_KinJoint::_part3

protected

Optional attribute only with compound joint. This part is defined at the kinematic part table.

◆ _RATIO

Dtk_string Dtk_KinJoint::_RATIO

Name for optional attribute.

◆ _ratio

double Dtk_KinJoint::_ratio

protected

Optional attribute.

◆ _RATIO_PARAMETER

Dtk_string Dtk_KinJoint::_RATIO_PARAMETER

Name for optional attribute.

◆ _ratioParm

Dtk_KinParameterPtr Dtk_KinJoint::_ratioParm

protected

Optional attribute.

◆ _type

JOINT_TYPE Dtk_KinJoint::_type

protected

Joint type:

1: prismatic
2: revolute
10: rigid
11: spherical
12: point curve
13: slide curve
14: roll
15: cylindrical
16: universal joint
17: CV joint
18: gear
19: rack
20: cable
21: screw
22: point surface
23: planar

◆ _UPPER_LIMIT1

Dtk_string Dtk_KinJoint::_UPPER_LIMIT1

Name for optional attribute.

◆ _UPPER_LIMIT2

Dtk_string Dtk_KinJoint::_UPPER_LIMIT2

Name for optional attribute.

◆ _upperlimit1

double Dtk_KinJoint::_upperlimit1

protected

Optional attribute.

◆ _upperlimit2

double Dtk_KinJoint::_upperlimit2

protected

Optional attribute.

◆ count_

unsigned long Dtk_Object::count_

protectedinherited

Public Member Functions

Static Public Member Functions

Data Fields

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ Dtk_KinJoint() [1/2]

◆ Dtk_KinJoint() [2/2]

◆ ~Dtk_KinJoint()

Member Function Documentation

◆ addAttribute()

◆ addConnector()

◆ addConstraint()

◆ Create()

◆ DtkDynamicCast()

◆ DtkDynamicType() [1/2]

◆ DtkDynamicType() [2/2]

◆ dump()

◆ Dump()

◆ get_type_detk()

◆ getAbsolutPos1()

◆ getAbsolutPos2()

◆ getAttribute()

◆ getAttributeSize()

◆ getCompoundType()

◆ getConnector()

◆ getConnectorSize()

◆ getConnectorTab()

◆ getConstraint()

◆ getConstraintSize()

◆ getFixTogether()

◆ getId()

◆ getJoint1()

◆ getJoint2()

◆ getLocalFrame1()

◆ getLocalFrame2()

◆ getLocalFrame3()

◆ getLocalFrame4()

◆ getLowerLimit1()

◆ getLowerLimit2()

◆ getName()

◆ getParameter1()

◆ getParameter2()

◆ getPart1()

◆ getPart2()

◆ getPart3()

◆ getRatio()

◆ getRatioParameter()

◆ GetSize()

◆ getType()

◆ getUpperLimit1()

◆ getUpperLimit2()

◆ hasAttribute()

◆ hasConstraint()

◆ isEqual()

◆ operator==()

◆ release()

◆ setAbsolutPos1()

◆ setAbsolutPos2()

◆ setCompoundType()

◆ setFixTogether()

◆ setId()

◆ setJoint1()

◆ setJoint2()

◆ setLocalFrame1()

◆ setLocalFrame2()

◆ setLocalFrame3()

◆ setLocalFrame4()

◆ setLowerLimit1()

◆ setLowerLimit2()

◆ setName()

◆ setParameter1()

◆ setParameter2()

◆ setPart1()

◆ setPart2()