Tworld Struct Reference

Information to generate equations from high level link descriptions. More...

#include <world.h>

Collaboration diagram for Tworld:

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Data Fields
unsigned int	stage
Tmechanism	m
unsigned int	nl
unsigned int	nb
unsigned int	nj
double	maxCoord
TCuikSystem	kinCS
boolean *	systemVars
Tequation **	refEqs

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Detailed Description

Structure with all the necessary information to generate equations from high level link descriptions involving links and joints.

Definition at line 74 of file world.h.

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Field Documentation

unsigned int Tworld::stage

Stage of the world structure: EMPTY_WORLD, WORLD_WITH_GEOMETRY, WORLD_WITH_EQUATIONS. Latter stages imply the previous ones.

Definition at line 75 of file world.h.

Referenced by AnimateWorld(), DeleteWorld(), GenerateWorldEquationSystems(), GetGlobalInitialBox(), GetWorldSystemVars(), InitWorld(), MaxKinematicReduction(), MoveWorld(), PlotWorld(), PrintWorldCS(), and SplitGlobalBox().

Tmechanism Tworld::m

The mechanism.

Definition at line 79 of file world.h.

Referenced by AddJoint2World(), AddLink2World(), Branch2Link(), DeleteWorld(), GenerateEquationsFromBranch(), GenerateKinTree(), GenerateWorldEquationSystems(), GetWorldDOF(), GetWorldLink(), GetWorldLinkID(), InitWorld(), InitWorldKinCS(), IsRevoluteBinaryLink(), MoveWorld(), and PlotWorld().

unsigned int Tworld::nl

Number of links in the mechanism.

Definition at line 81 of file world.h.

Referenced by AddLink2World(), Branch2Link(), DeleteWorld(), GenerateKinTree(), GenerateWorldEquationSystems(), GetWorldNLinks(), InitWorld(), InitWorldKinCS(), and MoveWorld().

unsigned int Tworld::nb

Number of convex bodies forming the links.

Definition at line 82 of file world.h.

Referenced by AddLink2World(), GetWorldNConvexBodiesInLinks(), and InitWorld().

unsigned int Tworld::nj

Number of joints.

Definition at line 83 of file world.h.

Referenced by AddJoint2World(), GenerateKinTree(), GetWorldNJoints(), InitWorld(), and InitWorldKinCS().

double Tworld::maxCoord

Sum of the maximum coordinate values for all objects in the mechanism. Used to define the ranges of coordinate and separating plane variables.

Definition at line 84 of file world.h.

Referenced by GenerateEquationsFromBranch(), GenerateWorldEquationSystems(), and InitWorldKinCS().

TCuikSystem Tworld::kinCS

The cuiksystem.

Definition at line 87 of file world.h.

Referenced by AnimateWorld(), DeleteWorldCS(), GenerateTransEquationsFromBranch(), GenerateWorldEquationSystems(), GetGlobalInitialBox(), GetWorldSystemVars(), InitWorldCS(), InitWorldKinCS(), MaxKinematicReduction(), MoveWorld(), PrintWorldCS(), and SplitGlobalBox().

boolean* Tworld::systemVars

Array of booleans with as many elements as variables has the kinCS and where each entry is TRUE if the corresponding variable is a system variable.
System variables are the ones used to defined the neighbouring relations in the graph of boxes, to decide if a box is small enough to consider it as a solution, etc.
This information can be retrived from the Tworld::kinCS but is cached since it is used many times.

Definition at line 89 of file world.h.

Referenced by DeleteWorld(), GenerateWorldEquationSystems(), InitWorld(), MaxKinematicReduction(), and MoveWorld().

Tequation** Tworld::refEqs

Three equations for each link giving the position of the frame of reference of each link in the global frame of reference. They define the translations using rotation variables and fixed vectors.

Definition at line 99 of file world.h.

Referenced by DeleteWorld(), GenerateWorldEquationSystems(), InitWorld(), and MoveWorld().

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

• src/CuikWorld/include/world.h