OMK::Iii::Joint Class Reference
[Joints]

Ancestor of every joint, it is a lock joint. More...

#include <OMKJoint.h>

Inheritance diagram for OMK::Iii::Joint:

[legend]Collaboration diagram for OMK::Iii::Joint:

[legend]List of all members.

Protected Member Functions
Interface
virtual void	establishLink ()
	Initialises the link reference positions.
virtual void	currentJointPosition ()
	Calculates the current position of the joint.
virtual bool	retroPropagation ()
	Calculates the ideal position of the reference point.
virtual void	currentObjectPosition ()
	Calculates the current position of the object.
Protected Attributes
OMK::Type::Transform	_jointOffset
	The offset of the joint regarding the reference.
OMK::Type::Transform	_jointOffsetInverse
	The inverse of _jointOffset.
OMK::Type::Transform	_objectOffset
	The offset of the position regarding the joint.
OMK::Type::Transform	_objectOffsetInverse
	The inverse of _objectOffset.
JointExtension *	_owner
	The joint extension which the joint is associated to.
IAttributeBaseT< OMK::Type::Transform > *	_objectPosition
	The position of the object.
IAttributeBaseT< OMK::Type::Transform > *	_referencePosition
	The reference position.
IAttributeBaseT< OMK::Type::Transform > *	_jointPosition
	The joint position.
Private Member Functions
	DECLARE_JOINT_FACTORY (Joint)
Friends
class	JointExtension

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Detailed Description

Ancestor of every joint, it is a lock joint.

Date:

2007-06-20

Author:

Beno� Chanclou

This joint is the ancestor of all the kinematic joints which can be associated to the JointExtension. Every joint must be registered in the joint factory. The macros DECLARE_JOINT_FACTORY and REGISTER_JOINT_FACTORY should be used to create respectively the declaration and the registration. Each joint has its own name to be created by the factory at the extension initialisation.

Parameters are :

• Joint the name of the joint, registered in the factory
• Attribute The name of the attribute, by default Position

The following configuration can be used to lock an object on an other one.

object
{
  Class SimplePoint
  Scheduling
  {
    Frequency 60
  }
  Extensions
  {
    joint
    {
      Class Joint
      Retro enable
      Joint Lock // The name of the joint
      Attribute Position // The name of the attribute (by default "Position")
      Level 0
    }
  }
  UserParams
  {
    refPositionConnect [reference Position] // The reference position
    jointPosition[[-30 20 -400]] // The initial joint position
    Position [[30 0 -400]] // The initial object position
  }
}

Most of the joints have some parameters, see each ones to have their configuration

Definition at line 192 of file OMKJoint.h.

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Member Function Documentation

OMK::Iii::Joint::DECLARE_JOINT_FACTORY

(

Joint

)

[private]

void OMK::Iii::Joint::establishLink

(

)

[protected, virtual]

Initialises the link reference positions.

This method is called by the extension when the link is established. The current positions will be the reference positions.

Reimplemented in OMK::Iii::BallJoint, OMK::Iii::HingeSlideJoint, and OMK::Iii::ScrewJoint.

Definition at line 61 of file OMKJoint.cpp.

References _jointOffset, _jointOffsetInverse, _jointPosition, _objectOffset, _objectOffsetInverse, _objectPosition, _referencePosition, OMK::IAccessorT< T >::get(), OMK::Type::Transform::inverse(), OMK::Type::product(), and OMK::Type::Transform::updateFlags().

Referenced by OMK::Iii::HingeSlideJoint::establishLink(), OMK::Iii::BallJoint::establishLink(), and OMK::Iii::JointExtension::postComputeParameters().

{
  // Must calculate the new offset between the reference position and the joint position
  // It is the current offset
  _jointOffset = product( _referencePosition->get().inverse(), _jointPosition->get() ) ;
  _jointOffset.updateFlags() ;
  
  // Must calculate the new offset between the joint position and the object position
  // It is the current offset
  _objectOffset = product( _jointPosition->get().inverse(), _objectPosition->get() ) ;
  _objectOffset.updateFlags() ;
  
  // Calculates the inverse transforms for optimisation
  _jointOffsetInverse = _jointOffset.inverse() ;
  _jointOffsetInverse.updateFlags() ;
  
  _objectOffsetInverse = _objectOffset.inverse() ;
  _objectOffsetInverse.updateFlags() ;
}

void OMK::Iii::Joint::currentJointPosition

(

)

[protected, virtual]

Calculates the current position of the joint.

The position is calculated according to the reference position object and the offset of the joint.

Definition at line 82 of file OMKJoint.cpp.

References _jointOffset, _jointPosition, _referencePosition, OMK::IAccessorT< T >::get(), OMK::Type::product(), and OMK::IAccessorT< T >::set().

Referenced by OMK::Iii::JointExtension::postComputeParameters().

{
  // calculates the new joint position
  _jointPosition->set( product( _referencePosition->get(), _jointOffset ) ) ;
}

bool OMK::Iii::Joint::retroPropagation

(

)

[protected, virtual]

Calculates the ideal position of the reference point.

Returns:

true if the reference position should moves.

Must be overwritten to introduce freedom in the joint. This method updates the object position and the "

Reimplemented in OMK::Iii::BallJoint, and OMK::Iii::HingeSlideJoint.

Definition at line 88 of file OMKJoint.cpp.

References _jointOffsetInverse, _objectOffsetInverse, _objectPosition, _referencePosition, OMK::IAccessorT< T >::get(), OMK::Type::product(), and OMK::IAccessorT< T >::set().

Referenced by OMK::Iii::JointExtension::postComputeParameters().

{
  // Calculates the optimal position of the reference position to retro-propagates
  _referencePosition->set( product( product( _objectPosition->get(), _objectOffsetInverse ), _jointOffsetInverse ) ) ;
  return true ;
}

void OMK::Iii::Joint::currentObjectPosition

(

)

[protected, virtual]

Calculates the current position of the object.

The position is calculated according to the joint position object and the offset of the object.

Reimplemented in OMK::Iii::BallJoint, and OMK::Iii::HingeSlideJoint.

Definition at line 95 of file OMKJoint.cpp.

References _jointPosition, _objectOffset, _objectPosition, OMK::IAccessorT< T >::get(), OMK::Type::product(), and OMK::IAccessorT< T >::set().

Referenced by OMK::Iii::JointExtension::postComputeParameters().

{
  // calculates the new object position
  _objectPosition->set( product( _jointPosition->get(), _objectOffset ) ) ;
}

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Friends And Related Function Documentation

friend class JointExtension [friend]

Definition at line 194 of file OMKJoint.h.

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Member Data Documentation

OMK::Type::Transform OMK::Iii::Joint::_jointOffset [protected]

The offset of the joint regarding the reference.

This offset is used to calculate the new joint position compared to the reference position, see currentJointPosition.

Definition at line 222 of file OMKJoint.h.

Referenced by currentJointPosition(), and establishLink().

OMK::Type::Transform OMK::Iii::Joint::_jointOffsetInverse [protected]

The inverse of _jointOffset.

Definition at line 224 of file OMKJoint.h.

Referenced by establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and retroPropagation().

OMK::Type::Transform OMK::Iii::Joint::_objectOffset [protected]

The offset of the position regarding the joint.

This offset is used to calculate the new object position compared to the joint position, see currentObjectPosition.

Definition at line 228 of file OMKJoint.h.

Referenced by OMK::Iii::HingeSlideJoint::currentObjectPosition(), OMK::Iii::BallJoint::currentObjectPosition(), currentObjectPosition(), OMK::Iii::HingeSlideJoint::establishLink(), OMK::Iii::BallJoint::establishLink(), establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), and OMK::Iii::BallJoint::retroPropagation().

OMK::Type::Transform OMK::Iii::Joint::_objectOffsetInverse [protected]

The inverse of _objectOffset.

Definition at line 230 of file OMKJoint.h.

Referenced by establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and retroPropagation().

JointExtension* OMK::Iii::Joint::_owner [protected]

The joint extension which the joint is associated to.

Definition at line 232 of file OMKJoint.h.

IAttributeBaseT< OMK::Type::Transform >* OMK::Iii::Joint::_objectPosition [protected]

The position of the object.

The reference to the attribute which define the position of the object.

The name can be defined by the configuration parameter named Attribute, if not defined the default is Position.

Definition at line 238 of file OMKJoint.h.

Referenced by OMK::Iii::HingeSlideJoint::currentObjectPosition(), OMK::Iii::BallJoint::currentObjectPosition(), currentObjectPosition(), OMK::Iii::HingeSlideJoint::establishLink(), OMK::Iii::BallJoint::establishLink(), establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and retroPropagation().

IAttributeBaseT< OMK::Type::Transform >* OMK::Iii::Joint::_referencePosition [protected]

The reference position.

This attribute is used to retrieve the position of the reference object.

Definition at line 241 of file OMKJoint.h.

Referenced by currentJointPosition(), establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and retroPropagation().

IAttributeBaseT< OMK::Type::Transform >* OMK::Iii::Joint::_jointPosition [protected]

The joint position.

This attribute defines the position of the joint. This position follows the reference position and it is calculated by offsetting this one.

Definition at line 246 of file OMKJoint.h.

Referenced by currentJointPosition(), OMK::Iii::HingeSlideJoint::currentObjectPosition(), OMK::Iii::BallJoint::currentObjectPosition(), currentObjectPosition(), OMK::Iii::ScrewJoint::establishLink(), OMK::Iii::HingeSlideJoint::establishLink(), establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), and OMK::Iii::BallJoint::retroPropagation().

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