Classes | |
| struct | ArmParam |
| struct | DrawObject |
| struct | Object |
Public Types | |
| enum | OBJECT_TYPE { BOX, CYLINDER, SPHERE } |
Public Member Functions | |
| ArmSim (OptionManager &mgr, const std::string &descrName="ArmSim", const std::string &tagName="ArmSim", const double l0=0.8, const double l1=0.9, const double l2=1.00, const double l3=1.00, const double l4=1.00) | |
| void | start2 () |
| do some additional config at start time; see ModelComponent.H | |
| void | setMotor (MOTOR m, int val) |
| Set the Motor Speed and Direction by pwm. | |
| void | setMotorPos (MOTOR m, int pos) |
| Set the Motor Position by the encoder value. | |
| int | getEncoder (MOTOR m) |
| Get the encoder value from motor. | |
| void | resetEncoders () |
| Reset all motor encoder value to 0. | |
| void | resetMotorPos () |
| Reset all motor position to the home place. | |
| void | stopAllMotors () |
| Stop all the motor movement. | |
| void | homeMotor () |
| Do the homeing to the all motor. | |
| void | setSafety (bool val) |
| void | simLoop () |
| Bring motor to a predefined position. | |
| void | startSim (void) |
| float | getPWM (MOTOR m) |
| dWorldID | getWorld () |
| dJointGroupID | getContactgroup () |
| float | toDegree (float r) |
| float | toRadius (float d) |
| Image< PixRGB< byte > > | getFrame (int camera) |
| void | getArmLoc (double loc[3]) |
| Get the arm location from 2d to 3d. | |
| void | getObjLoc (const int x, const int y, double loc[3]) |
| Get the object location from 2d to 3d. | |
| double | getGradient (MOTOR m, double *targetPos) |
| Get the gradient movement from joint in angle value. | |
| int | getGradientEncoder (MOTOR m, double *targetPos) |
| Get the gradient movement from joint in encoder value. | |
| void | addObject (OBJECT_TYPE objType, double initPos[3]) |
| Add an object of type OBJECT_TYPE. | |
| void | addObject (OBJECT_TYPE objType, double initPos[3], double objSize[3]) |
| void | addDrawObject (OBJECT_TYPE objType, double pos[3]) |
| void | drawObjects () |
| Draw the objects we know of. | |
| void | moveObject (double pos[3], int objID=0) |
| Move the first add objects. | |
| dReal * | getEndPos () |
| int | ang2encoder (double ang, MOTOR m) |
| Convert angle value to encoder value. | |
| double | encoder2ang (int eng, MOTOR m) |
| Convert encoder value to angle value. | |
| void | getJointAxis (MOTOR m, dReal axis[3]) |
| Get joint axis direction by motor. | |
| void | getJointCenter (MOTOR m, dReal joint[3]) |
| Get the value of the joint center position. | |
| dJointID | getJointID (MOTOR m) |
| get joint id by motor | |
| void | drawLine (double pos[3]) |
| Draw a line from arm end position to target. | |
Definition at line 61 of file ArmSim.H.
| void ArmSim::addObject | ( | OBJECT_TYPE | objType, | |
| double | initPos[3] | |||
| ) |
| int ArmSim::ang2encoder | ( | double | ang, | |
| MOTOR | m | |||
| ) |
Convert angle value to encoder value.
Definition at line 288 of file ArmSim.C.
Referenced by getEncoder(), and getGradientEncoder().
| void ArmSim::drawLine | ( | double | pos[3] | ) |
Draw a line from arm end position to target.
Definition at line 538 of file ArmSim.C.
Referenced by drawObjects().
| void ArmSim::drawObjects | ( | ) |
| double ArmSim::encoder2ang | ( | int | eng, | |
| MOTOR | m | |||
| ) |
| void ArmSim::getArmLoc | ( | double | loc[3] | ) |
| int ArmSim::getEncoder | ( | MOTOR | m | ) | [virtual] |
Get the encoder value from motor.
Reimplemented from RobotArm.
Definition at line 226 of file ArmSim.C.
References ang2encoder().
| double ArmSim::getGradient | ( | MOTOR | m, | |
| double * | targetPos | |||
| ) |
Get the gradient movement from joint in angle value.
Definition at line 872 of file ArmSim.C.
References getJointID().
Referenced by getGradientEncoder().
| int ArmSim::getGradientEncoder | ( | MOTOR | m, | |
| double * | targetPos | |||
| ) |
Get the gradient movement from joint in encoder value.
Definition at line 868 of file ArmSim.C.
References ang2encoder(), and getGradient().
| void ArmSim::getJointAxis | ( | MOTOR | m, | |
| dReal | axis[3] | |||
| ) |
Get joint axis direction by motor.
Definition at line 893 of file ArmSim.C.
References getJointID().
| void ArmSim::getJointCenter | ( | MOTOR | m, | |
| dReal | joint[3] | |||
| ) |
Get the value of the joint center position.
Definition at line 897 of file ArmSim.C.
References getJointID().
| dJointID ArmSim::getJointID | ( | MOTOR | m | ) |
get joint id by motor
Definition at line 901 of file ArmSim.C.
Referenced by getGradient(), getJointAxis(), and getJointCenter().
| void ArmSim::getObjLoc | ( | const int | x, | |
| const int | y, | |||
| double | loc[3] | |||
| ) |
Get the object location from 2d to 3d.
Definition at line 793 of file ArmSim.C.
References ViewPort::unProjectPoint().
| void ArmSim::homeMotor | ( | ) | [virtual] |
| void ArmSim::moveObject | ( | double | pos[3], | |
| int | objID = 0 | |||
| ) |
| void ArmSim::resetEncoders | ( | ) | [virtual] |
| void ArmSim::resetMotorPos | ( | void | ) | [inline, virtual] |
| void ArmSim::setMotor | ( | MOTOR | m, | |
| int | pwm | |||
| ) | [virtual] |
| void ArmSim::setMotorPos | ( | MOTOR | m, | |
| int | pos | |||
| ) | [inline, virtual] |
| void ArmSim::simLoop | ( | ) | [virtual] |
| void ArmSim::start2 | ( | ) | [virtual] |
do some additional config at start time; see ModelComponent.H
Reimplemented from RobotArm.
| void ArmSim::stopAllMotors | ( | ) | [virtual] |
1.6.3