Tmechanism Struct Reference

Detailed Description

Description of a mechanism composed by links (i.e., rigid parts composed by convex sub-parts) and joints connecting this links. We assume the mechanism is fully connected (i.e., there are not links not-connected to the ground link). Note that, thanks to the use of the FREE_JOINT, several independent sub-mechanisms can be seen as a single connected mechanism.

See Also

mechanism.h, mechanism.c.

Definition at line 51 of file mechanism.h.

Data Fields
Tvector	joints
Tvector	links
unsigned int	nbodies
boolean	allSpheres
double	maxCoord

Field Documentation

Tvector Tmechanism::joints

Set of relations (revolutions/sliding/...) between links.

Definition at line 52 of file mechanism.h.

Referenced by AddJoint2Mechanism(), DeleteMechanism(), GetMechanismJoint(), GetMechanismNJoints(), and InitMechanism().

Tvector Tmechanism::links

Set of rigid parts of a mechanisms. Each link is composed by one or more convex parts.

Definition at line 53 of file mechanism.h.

Referenced by AddLink2Mechanism(), DeleteMechanism(), GetMechanismLink(), GetMechanismLinkID(), GetMechanismNLinks(), and InitMechanism().

unsigned int Tmechanism::nbodies

The number of convex parts added over all links.

Definition at line 56 of file mechanism.h.

Referenced by AddBody2Mechanism(), AddLink2Mechanism(), GetMechanismNBodies(), and InitMechanism().

boolean Tmechanism::allSpheres

TRUE if all the bodeis in the mechanism are spheres.

Definition at line 57 of file mechanism.h.

Referenced by AddBody2Mechanism(), AddJoint2Mechanism(), AddLink2Mechanism(), InitMechanism(), and IsMechanismAllSpheres().

double Tmechanism::maxCoord

Sum of the maximum coordinate values used in all the links and joints of the mechanism.

Definition at line 58 of file mechanism.h.

Referenced by AddBody2Mechanism(), AddJoint2Mechanism(), AddLink2Mechanism(), GetMechanismMaxCoordinate(), and InitMechanism().