All the necessary information to generate equations for mechanisms and the equations themselves.
It also includes the information about the obstacles around the mechanisms and, thus, provide methods to detect collisions.
Finally, the functions associated to this structure allow to animate solution paths (i.e. to move the mechanisms along a set of configurations).
Definition at line 124 of file world.h.
unsigned int Tworld::stage |
Stage of the world structure: EMPTY_WORLD, WORLD_WITH_GEOMETRY, WORLD_WITH_COLLISIONS, WORLD_WITH_EQUATIONS. Latter stages imply the previous ones.
Definition at line 125 of file world.h.
Referenced by AddJoint2World(), AddLink2World(), AddObstacle2World(), AnimateWorld(), CheckAllCollisions(), CheckLinkLinkCollision(), CheckLinkObstacleCollision(), CheckSelfCollisions(), DeleteWorld(), EvaluateWorldJacobian(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromSolutionPoint(), GetWorldInitialBox(), GetWorldJacobian(), GetWorldNumSystemVariables(), GetWorldNumVariables(), GetWorldSimpInitialBox(), GetWorldSimpJacobian(), GetWorldSimpTopology(), GetWorldSimpVariableMask(), GetWorldSystemVars(), GetWorldVarNames(), InitWorld(), InitWorldCD(), IsWorldPolynomial(), MaxWorldReduction(), MoveWorld(), MoveWorldDOF(), NewtonInWorld(), NoCheckAllCollisions(), NoCheckLinkLinkCollision(), NoCheckLinkObstacleCollision(), NoCheckSelfCollisions(), PlotWorld(), PrintWorldAxes(), PrintWorldCS(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), WorldDOF2Sol(), WorldErrorInEquations(), WorldErrorInSimpEquations(), WorldErrorInSimpInequalities(), WorldEvaluateEquations(), WorldEvaluateSimpEquations(), WorldEvaluateSubSetSimpEquations(), WorldGenerateSimplifiedPoint(), WorldInequalitiesHold(), WorldInitDOFInfo(), WorldSample2DOF(), and WorldSimpInequalitiesHold().
The environment.
Definition at line 130 of file world.h.
Referenced by AddObstacle2World(), CheckAllCollisions(), DeleteWorld(), GenerateWorldEquations(), GetWorldObstacleID(), InitWorld(), InitWorldCD(), PlotWorld(), PrintCollisions(), PrintWorld(), WorldPrintAtoms(), and WorldStoreRigidGroups().
The mechanism.
Definition at line 131 of file world.h.
Referenced by AddJoint2World(), AddLink2World(), Branches2Links(), DeleteWorld(), GenerateEquationsFromBranch(), GenerateKinTree(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromDOF(), GetLinkTransformsFromSolution(), GetLinkTransformsFromSolutionPoint(), GetSolutionPointFromLinkTransforms(), GetWorldDOFLabel(), GetWorldJoint(), GetWorldJointLabel(), GetWorldLink(), GetWorldLinkID(), GetWorldMobility(), GetWorldRangeDOF(), GetWorldSimpVariableMask(), InitWorld(), InitWorldCD(), InitWorldKinCS(), IsMechanismInWorldAllSpheres(), IsRevoluteBinaryLink(), MoveWorld(), MoveWorldDOF(), PlotWorld(), PrintCollisions(), PrintWorld(), PrintWorldAxes(), PrintWorldCollisionInfo(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), WorldAtomJacobian(), WorldDOF2Sol(), WorldInitDOFInfo(), WorldPrintAtoms(), WorldSample2DOF(), and WorldStoreRigidGroups().
Number of links in the mechanism.
Definition at line 133 of file world.h.
Referenced by AddLink2World(), AddObstacle2World(), AnyCollision(), Branches2Links(), CheckAllCollisions(), CheckSelfCollisions(), DeleteLinkTransforms(), DeleteWorldCollisionInfo(), DeleteWorldCS(), GenerateKinTree(), GenerateWorldEquations(), GetLinkTransformsFromDOF(), GetLinkTransformsFromSolution(), GetWorldNLinks(), GetWorldSimpVariableMask(), InitWorld(), InitWorldKinCS(), NoCheckAllCollisions(), NoCheckSelfCollisions(), PrintCollisions(), PrintWorldAxes(), WorldAtomJacobian(), and WorldDOF2Sol().
unsigned int Tworld::endEffector |
boolean** Tworld::checkCollisionsLL |
boolean** Tworld::checkCollisionsLO |
TRUE if we have to chek the collision between the corresponding link and object in the environment. Note that in the wold definition file we can not activate/desactive the collision checking for sub-parts of a link. To get this effect you can use assign the DECOR type to the link sub-parts not to be considered in the collision detection.
Definition at line 154 of file world.h.
Referenced by AddLink2World(), AddObstacle2World(), AnyCollision(), CheckAllCollisions(), CheckLinkObstacleCollision(), DeleteWorldCollisionInfo(), InitWorld(), InitWorldCD(), NoCheckAllCollisions(), NoCheckLinkObstacleCollision(), and PrintCollisions().
The cuiksystem derived form the mechanism.
Definition at line 165 of file world.h.
Referenced by AnimateWorld(), DeleteWorldCS(), EvaluateWorldJacobian(), GenerateMEquationFromBranch(), GenerateTransEquationsFromBranch(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromSolution(), GetLinkTransformsFromSolutionPoint(), GetSolutionPointFromLinkTransforms(), GetWorldInitialBox(), GetWorldJacobian(), GetWorldNumSystemVariables(), GetWorldNumVariables(), GetWorldSimpInitialBox(), GetWorldSimpJacobian(), GetWorldSimpTopology(), GetWorldSimpVariableMask(), GetWorldSystemVars(), GetWorldVarNames(), GetWorldVarTopology(), InitWorldCS(), InitWorldKinCS(), IsWorldPolynomial(), MaxWorldReduction(), MoveWorld(), NewtonInWorld(), PrintWorldAxes(), PrintWorldCS(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), WorldDOF2Sol(), WorldErrorInEquations(), WorldErrorInSimpEquations(), WorldErrorInSimpInequalities(), WorldEvaluateEquations(), WorldEvaluateSimpEquations(), WorldEvaluateSubSetSimpEquations(), WorldGenerateSimplifiedPoint(), WorldInequalitiesHold(), WorldSample2DOF(), WorldSimpCuikNewton(), and WorldSimpInequalitiesHold().
unsigned int Tworld::nvars |
unsigned int Tworld::nsvars |
unsigned int* Tworld::sortedLinks |
unsigned int* Tworld::jointTo |
Jacobian of the equations in refEqs. This is computed in all the cases, but only actually used if the representation is DOF-based. Note that the refEqs are given in the original varialbes (i.e., without any simplification) and so it is the Jacobian.
Definition at line 196 of file world.h.
Referenced by DeleteWorldCS(), GenerateWorldEquations(), and WorldAtomJacobian().
TRUE if the link is at the end of an open branch. In this case the kinematic system includes variables with the position of this link and we have to take this into account when generating configurations from degrees of freedom (see WorldDOF2Sol)
Definition at line 203 of file world.h.
Referenced by DeleteWorldCS(), GenerateKinTree(), and WorldDOF2Sol().
unsigned int Tworld::nwcd |
The collision detection information, if any.
Definition at line 214 of file world.h.
Referenced by DeleteWorldCD(), InitWorld(), InitWorldCD(), MoveAndCheckCD(), MoveAndCheckCDFromTransforms(), MoveWorldDOF(), PlotWorld(), PrintWorldCollisionInfo(), WorldCanCollide(), and WorldContinuousCD().
unsigned int Tworld::ndof |
unsigned int* Tworld::joint2dof |
unsigned int* Tworld::dof2joint |
unsigned int* Tworld::dof2range |
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