util_kinematics_dtk.hpp File Reference

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Data Structures
class	Dtk_KinCommand
	Dtk_KinCommand represents a command to simulate a mechanism. More...
class	Dtk_KinConstraint
	Dtk_KinConstraint represents a constraint to define a joint. More...
class	Dtk_KinCurve
	Dtk_KinCurve represents a curve associated at a law. More...
class	Dtk_Kinematic
	Dtk_Kinematic represents a kinematic. More...
class	Dtk_KinFixPart
	Dtk_KinFixPart represents the fixed part to simulate the mechanism. More...
class	Dtk_KinFormula
	Dtk_KinFormula represents the formula defined the law. More...
class	Dtk_KinJoint
	Dtk_KinJoint represents a joint to define a mechanism. More...
class	Dtk_KinLaw
	Dtk_KinLaw represents a law associated at a command. More...
class	Dtk_KinMechanism
	Dtk_KinMechanism represents a kinematic mechanism. More...
class	Dtk_KinNamedValue
	Dtk_KinNamedValue represents a named value. More...
class	Dtk_KinParameter
	Dtk_KinParameter represents a kinematic parameter. More...
class	Dtk_KinProduct
	Dtk_KinProduct represents a kinematic product. More...
class	Dtk_KinSpeedAcceleration
	Dtk_KinSpeedAcceleration represents a mechanism speed/acceleration. More...

Typedefs
typedef Dtk_SmartPtr< Dtk_KinCommand >	Dtk_KinCommandPtr
typedef Dtk_tab< Dtk_KinCommandPtr >	Dtk_KinCommandTab
typedef Dtk_NodeConnector	Dtk_KinConnector
typedef Dtk_NodeConnectorPtr	Dtk_KinConnectorPtr
typedef Dtk_tab< Dtk_NodeConnectorPtr >	Dtk_KinConnectorTab
typedef Dtk_SmartPtr< Dtk_KinConstraint >	Dtk_KinConstraintPtr
typedef Dtk_tab< Dtk_KinConstraintPtr >	Dtk_KinConstraintTab
typedef Dtk_SmartPtr< Dtk_KinCurve >	Dtk_KinCurvePtr
typedef Dtk_tab< Dtk_KinCurvePtr >	Dtk_KinCurveTab
typedef Dtk_SmartPtr< Dtk_Kinematic >	Dtk_KinematicPtr
typedef Dtk_SmartPtr< Dtk_KinFixPart >	Dtk_KinFixPartPtr
typedef Dtk_SmartPtr< Dtk_KinFormula >	Dtk_KinFormulaPtr
typedef Dtk_SmartPtr< Dtk_KinJoint >	Dtk_KinJointPtr
typedef Dtk_tab< Dtk_KinJointPtr >	Dtk_KinJointTab
typedef Dtk_SmartPtr< Dtk_KinLaw >	Dtk_KinLawPtr
typedef Dtk_tab< Dtk_KinLawPtr >	Dtk_KinLawTab
typedef Dtk_SmartPtr< Dtk_KinMechanism >	Dtk_KinMechanismPtr
typedef Dtk_tab< Dtk_KinMechanismPtr >	Dtk_KinMechanismTab
typedef Dtk_SmartPtr< Dtk_KinNamedValue >	Dtk_KinNamedValuePtr
typedef Dtk_SmartPtr< Dtk_KinParameter >	Dtk_KinParameterPtr
typedef Dtk_tab< Dtk_KinParameterPtr >	Dtk_KinParameterTab
typedef Dtk_Component	Dtk_KinPart
typedef Dtk_ComponentPtr	Dtk_KinPartPtr
typedef Dtk_tab< Dtk_ComponentPtr >	Dtk_KinPartTab
typedef Dtk_SmartPtr< Dtk_KinProduct >	Dtk_KinProductPtr
typedef Dtk_tab< Dtk_KinProductPtr >	Dtk_KinProductTab
typedef Dtk_SmartPtr< Dtk_KinSpeedAcceleration >	Dtk_KinSpeedAccelerationPtr
typedef Dtk_tab< Dtk_KinSpeedAccelerationPtr >	Dtk_KinSpeedAccelerationTab
typedef Dtk_tab< Dtk_pnt >	Dtk_PointTab
typedef Dtk_tab< Dtk_string >	Dtk_StringTab

Enumerations
enum	COMMAND_TYPE {   KIN_CMD_NOTHING = 0, KIN_CMD_ANGLE = 1, KIN_CMD_LENGTH = 2, KIN_CMD_ANGLE_JOINT1 = 3,   KIN_CMD_LENGTH_JOINT1 = 4, KIN_CMD_ANGLE_JOINT2 = 5, KIN_CMD_LENGTH_JOINT2 = 6 }
	Enum for the command type. More...
enum	DTK_KINEMATIC_TYPE {   DTK_KIN_TYPE_UNKNOWN, DTK_KIN_TYPE_JOINT, DTK_KIN_TYPE_COMMAND, DTK_KIN_TYPE_MECHANISM,   DTK_KIN_TYPE_LAW, DTK_KIN_TYPE_SPEED_ACCELERATION }
	Enum for parameter father type. More...
enum	JOINT_TYPE {   DTK_NOTHING = 0, DTK_PRISMATIC = 1, DTK_REVOLUTE = 2, DTK_RIGID = 10,   DTK_SPHERICAL = 11, DTK_POINT_CURVE = 12, DTK_SLIDE_CURVE = 13, DTK_ROLL = 14,   DTK_CYLINDRICAL = 15, DTK_UNIVERSAL_JOINT = 16, DTK_CV_JOINT = 17, DTK_GEAR = 18,   DTK_RACK = 19, DTK_CABLE = 20, DTK_SCREW = 21, DTK_POINT_SURFACE = 22,   DTK_PLANAR = 23 }
	Enum for the joints type. More...

Functions
Dtk_status	Dtk_DeleteKinematics ()
	Delete the kinematic object. More...
Dtk_status	Dtk_DumpKinematics (const Dtk_string &inFileName)
	Write Dump file. More...
Dtk_KinematicPtr	Dtk_GetKinematics ()
	Return the kinematic object. More...
void	Dtk_SetKinematics (Dtk_KinematicPtr inKinematic)
	Set the kinematic object. More...
void	DumpTransfo (FILE *inFile, Dtk_transfo transfo)

Typedef Documentation

Dtk_KinCommandPtr

typedef Dtk_SmartPtr<Dtk_KinCommand> Dtk_KinCommandPtr

Dtk_KinCommandTab

typedef Dtk_tab<Dtk_KinCommandPtr> Dtk_KinCommandTab

Dtk_KinConnector

typedef Dtk_NodeConnector Dtk_KinConnector

Dtk_KinConnectorPtr

typedef Dtk_NodeConnectorPtr Dtk_KinConnectorPtr

Dtk_KinConnectorTab

typedef Dtk_tab<Dtk_NodeConnectorPtr> Dtk_KinConnectorTab

Dtk_KinConstraintPtr

typedef Dtk_SmartPtr<Dtk_KinConstraint> Dtk_KinConstraintPtr

Dtk_KinConstraintTab

typedef Dtk_tab<Dtk_KinConstraintPtr> Dtk_KinConstraintTab

Dtk_KinCurvePtr

typedef Dtk_SmartPtr<Dtk_KinCurve> Dtk_KinCurvePtr

Dtk_KinCurveTab

typedef Dtk_tab<Dtk_KinCurvePtr> Dtk_KinCurveTab

Dtk_KinematicPtr

typedef Dtk_SmartPtr<Dtk_Kinematic> Dtk_KinematicPtr

Dtk_KinFixPartPtr

typedef Dtk_SmartPtr<Dtk_KinFixPart> Dtk_KinFixPartPtr

Dtk_KinFormulaPtr

typedef Dtk_SmartPtr<Dtk_KinFormula> Dtk_KinFormulaPtr

Dtk_KinJointPtr

typedef Dtk_SmartPtr<Dtk_KinJoint> Dtk_KinJointPtr

Dtk_KinJointTab

typedef Dtk_tab<Dtk_KinJointPtr> Dtk_KinJointTab

Dtk_KinLawPtr

typedef Dtk_SmartPtr<Dtk_KinLaw> Dtk_KinLawPtr

Dtk_KinLawTab

typedef Dtk_tab<Dtk_KinLawPtr> Dtk_KinLawTab

Dtk_KinMechanismPtr

typedef Dtk_SmartPtr<Dtk_KinMechanism> Dtk_KinMechanismPtr

Dtk_KinMechanismTab

typedef Dtk_tab<Dtk_KinMechanismPtr> Dtk_KinMechanismTab

Dtk_KinNamedValuePtr

typedef Dtk_SmartPtr<Dtk_KinNamedValue> Dtk_KinNamedValuePtr

Dtk_KinParameterPtr

typedef Dtk_SmartPtr<Dtk_KinParameter> Dtk_KinParameterPtr

Dtk_KinParameterTab

typedef Dtk_tab<Dtk_KinParameterPtr> Dtk_KinParameterTab

Dtk_KinPart

typedef Dtk_Component Dtk_KinPart

Dtk_KinPartPtr

typedef Dtk_ComponentPtr Dtk_KinPartPtr

Dtk_KinPartTab

typedef Dtk_tab<Dtk_ComponentPtr> Dtk_KinPartTab

Dtk_KinProductPtr

typedef Dtk_SmartPtr<Dtk_KinProduct> Dtk_KinProductPtr

Dtk_KinProductTab

typedef Dtk_tab<Dtk_KinProductPtr> Dtk_KinProductTab

Dtk_KinSpeedAccelerationPtr

typedef Dtk_SmartPtr<Dtk_KinSpeedAcceleration> Dtk_KinSpeedAccelerationPtr

Dtk_KinSpeedAccelerationTab

typedef Dtk_tab<Dtk_KinSpeedAccelerationPtr> Dtk_KinSpeedAccelerationTab

Dtk_PointTab

typedef Dtk_tab<Dtk_pnt> Dtk_PointTab

Dtk_StringTab

typedef Dtk_tab<Dtk_string> Dtk_StringTab

Enumeration Type Documentation

COMMAND_TYPE

enum COMMAND_TYPE

Enum for the command type.

Enumerator
KIN_CMD_NOTHING
KIN_CMD_ANGLE
KIN_CMD_LENGTH
KIN_CMD_ANGLE_JOINT1
KIN_CMD_LENGTH_JOINT1
KIN_CMD_ANGLE_JOINT2
KIN_CMD_LENGTH_JOINT2

{
    KIN_CMD_NOTHING = 0,
    KIN_CMD_ANGLE = 1,
    KIN_CMD_LENGTH = 2,
    KIN_CMD_ANGLE_JOINT1 = 3,
    KIN_CMD_LENGTH_JOINT1 = 4,
    KIN_CMD_ANGLE_JOINT2 = 5,
    KIN_CMD_LENGTH_JOINT2 = 6
};

DTK_KINEMATIC_TYPE

enum DTK_KINEMATIC_TYPE

Enum for parameter father type.

Enumerator
DTK_KIN_TYPE_UNKNOWN
DTK_KIN_TYPE_JOINT
DTK_KIN_TYPE_COMMAND
DTK_KIN_TYPE_MECHANISM
DTK_KIN_TYPE_LAW
DTK_KIN_TYPE_SPEED_ACCELERATION

{
    DTK_KIN_TYPE_UNKNOWN,
    DTK_KIN_TYPE_JOINT,
    DTK_KIN_TYPE_COMMAND,
    DTK_KIN_TYPE_MECHANISM,
    DTK_KIN_TYPE_LAW,
    DTK_KIN_TYPE_SPEED_ACCELERATION
};

JOINT_TYPE

enum JOINT_TYPE

Enum for the joints type.

Enumerator
DTK_NOTHING
DTK_PRISMATIC
DTK_REVOLUTE
DTK_RIGID
DTK_SPHERICAL
DTK_POINT_CURVE
DTK_SLIDE_CURVE
DTK_ROLL
DTK_CYLINDRICAL
DTK_UNIVERSAL_JOINT
DTK_CV_JOINT
DTK_GEAR
DTK_RACK
DTK_CABLE
DTK_SCREW
DTK_POINT_SURFACE
DTK_PLANAR

{
    DTK_NOTHING = 0,
    DTK_PRISMATIC = 1,
    DTK_REVOLUTE = 2,
    DTK_RIGID = 10,
    DTK_SPHERICAL = 11,
    DTK_POINT_CURVE = 12,
    DTK_SLIDE_CURVE = 13,
    DTK_ROLL = 14,
    DTK_CYLINDRICAL = 15,
    DTK_UNIVERSAL_JOINT = 16,
    DTK_CV_JOINT = 17,
    DTK_GEAR = 18,
    DTK_RACK = 19,
    DTK_CABLE = 20,
    DTK_SCREW = 21,
    DTK_POINT_SURFACE = 22,
    DTK_PLANAR = 23
};

Function Documentation

DumpTransfo()

void DumpTransfo	(	FILE *	inFile,
		Dtk_transfo	transfo
	)