Tlink Struct Reference Detailed DescriptionInformation about each rigid part of a mechanisms. Each link is formed by one of more convex bodies.
Field Documentation
Name given to the links. Definition at line 90 of file link.h. Referenced by ApplyLinkRotFLinks(), ApplyLinkRotLinks(), ApplyLinkRotQLinks(), CacheRotVarsFLinks(), CacheRotVarsLinks(), CacheRotVarsQLinks(), CopyLink(), DeleteLink(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GetLinkName(), InitLink(), PrintLink(), and SetTransVars().
Sinus between the vectors defining the internal reference frame for the link. Definition at line 92 of file link.h. Referenced by ChangeLinkReferenceFrame(), CopyLink(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), InitLink(), RegenerateLinkBoxLinks(), and RegenerateLinkSolutionLinks().
Cosinus between the vectors defining the internal reference frame for the link. Definition at line 97 of file link.h. Referenced by ChangeLinkReferenceFrame(), CopyLink(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), and InitLink().
Rotation matrix defining the internal reference frame from the reference frame where bodies are defined. Definition at line 102 of file link.h. Referenced by ApplyLinkRotFLinks(), ApplyLinkRotLinks(), ApplyLinkRotVar(), ChangeLinkReferenceFrame(), CopyLink(), DeleteLink(), GetTransform2LinkFLinks(), GetTransform2LinkLinks(), and InitLink().
Inverse of R. This is necessary to recover M*iR for a given M (the link rotation using a orthonormal basis). In this case M*iR gives the values for the variables used internally to represent the rotation for the link. Definition at line 119 of file link.h. Referenced by ChangeLinkReferenceFrame(), CopyLink(), DeleteLink(), GenerateLinkSolutionFLinks(), GenerateLinkSolutionLinks(), and InitLink().
Set of sub-parts of the link where each part is a convex object. Definition at line 124 of file link.h. Referenced by AddBody2Link(), CopyLink(), DeleteLink(), GetLinkBody(), GetLinkBodyStatus(), InitLink(), and LinkNBodies().
TRUE if all non-DECOR bodies (i.e., bodies that ar considered in collision detection) are spheres. If all bodies in all links are spheres, we implement a speciall collision detectio prodedure based on the distance between the centers and not on separating planes. Definition at line 129 of file link.h. Referenced by AddBody2Link(), CopyLink(), InitLink(), and IsLinkAllSpheres().
Identifier of the three objects (lines) representing the reference frame for the link. Definition at line 134 of file link.h. Referenced by CopyLink(), InitLink(), MoveLinkFromTransform(), and PlotLink().
Maximum coordinate value used in any of the bodies of the link. Definition at line 140 of file link.h. Referenced by AddBody2Link(), CopyLink(), GetLinkMaxCoordinate(), and InitLink().
Last cuik system used to get the variable identifiers of this link. If in the new calls to GetTransform2Link, RegenerateLinkBox, or RegenerateLinkSolution the input cuiksystem is the same as this one, we could reuse the values stored in vID. Otherwise we have to recompute them. Definition at line 142 of file link.h. Referenced by CacheRotVarsFLinks(), CacheRotVarsLinks(), CacheRotVarsQLinks(), CopyLink(), DeleteLink(), and InitLink().
Identifiers of the variables for this link defined over csvID. Definition at line 147 of file link.h. Referenced by CacheRotVarsFLinks(), CacheRotVarsLinks(), CacheRotVarsQLinks(), CopyLink(), DeleteLink(), GenerateLinkSolutionFLinks(), GenerateLinkSolutionLinks(), GenerateLinkSolutionQLinks(), GetLinkPoseSimpVars(), GetTransform2LinkFLinks(), GetTransform2LinkLinks(), GetTransform2LinkQLinks(), InitLink(), RegenerateLinkBoxLinks(), RegenerateLinkBoxQLinks(), RegenerateLinkSolutionLinks(), RegenerateLinkSolutionQLinks(), and SetRotVars().
Number of elements in vID. This depends on the CT_REPRESENTATION parameter. Definition at line 148 of file link.h. Referenced by CacheRotVarsFLinks(), CacheRotVarsLinks(), CacheRotVarsQLinks(), CopyLink(), DeleteLink(), and InitLink(). |
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