Klamp't
0.8.1
|
The main robot type used in RobotSim. More...
#include <Robot.h>
Public Member Functions | |
virtual std::string | LinkName (int i) const |
int | LinkIndex (const char *name) const |
bool | Load (const char *fn) |
bool | LoadRob (const char *fn) |
bool | LoadURDF (const char *fn) |
bool | Save (const char *fn) |
bool | LoadGeometry (int i, const char *file) |
void | SetGeomFiles (const char *geomPrefix="", const char *geomExt="off") |
Sets the geometry file names to geomPrefix+[linkName].[geomExt]. | |
void | SetGeomFiles (const vector< string > &geomFiles) |
bool | SaveGeometry (const char *prefix="") |
void | InitStandardJoints () |
bool | CheckValid () const |
void | Mount (int link, const Geometry::AnyGeometry3D &geom, const RigidTransform &T) |
void | Mount (int link, const Robot &subchain, const RigidTransform &T, const char *prefix=NULL) |
void | Merge (const std::vector< Robot * > &robots) |
Creates this into a mega-robot from several other robots. | |
bool | DoesJointAffect (int joint, int dof) const |
void | GetJointIndices (int joint, vector< int > &indices) const |
void | SetJointByTransform (int joint, int link, const RigidTransform &T) |
Used for setting configuration of floating and ball-and-socket joints. | |
void | SetJointByOrientation (int joint, int link, const Matrix3 &R) |
Used for setting configuration of floating and ball-and-socket joints. | |
void | SetJointVelocityByMoment (int joint, int link, const Vector3 &w, const Vector3 &v) |
Used for setting velocity of floating and ball-and-socket joints. | |
bool | IsPassiveDOF (int dof) const |
Returns true if the given DOF does not have a driver attached to it. | |
bool | DoesDriverAffect (int driver, int dof) const |
void | GetDriverIndices (int driver, vector< int > &indices) const |
Vector2 | GetDriverLimits (int driver) const |
Real | GetDriverValue (int driver) const |
Real | GetDriverVelocity (int driver) const |
void | SetDriverValue (int driver, Real value) |
void | SetDriverVelocity (int driver, Real value) |
void | GetDriverJacobian (int driver, Vector &J) |
Returns a vector J such that the change in dof values is J*v where v is the change in the driver value. | |
void | ComputeLipschitzMatrix () |
Public Attributes | |
string | name |
vector< string > | geomFiles |
geometry file names (used in saving) | |
vector< ManagedGeometry > | geomManagers |
geometry loaders (speeds up loading) | |
Vector | accMax |
conservative acceleration limits, used by DynamicPath | |
vector< RobotJoint > | joints |
vector< RobotJointDriver > | drivers |
vector< string > | linkNames |
vector< string > | driverNames |
PropertyMap | properties |
Matrix | lipschitzMatrix |
A matrix of lipschitz constants (see ComputeLipschitzMatrix) | |
Static Public Attributes | |
static bool | disableGeometryLoading |
The main robot type used in RobotSim.
Inherits its main functionality from RobotWithGeometry, but adds extra saving and loading to .rob files, and contains RobotJoint and RobotJointDriver information.
void Robot::ComputeLipschitzMatrix | ( | ) |
The lipschitz matrix (i,j) is a bound on the amount that the geometry at link j moves in the workspace in response to a unit change in q(i) It is used by exact collision checkers, and is uninitialized by default.
|
static |
Set this to true if you want to disable loading of geometry – saves time for some utility programs.
PropertyMap Robot::properties |
Any extra properties that might be useful. Currently, we support the following: