Joints

The joints are a special extension which allows to connect an object to another object with a kinematic joint. More...

Classes
class	OMK::Iii::JointCreator
	Ancestor of every Joint creator class used by the PrototypeFactory. More...
class	OMK::Iii::JointCreatorT< T >
	Joint creator class to be parametrized by the descendants of Joint. More...
class	OMK::Iii::Joint
	Ancestor of every joint, it is a lock joint. More...
class	OMK::Iii::BallJoint
	Ball joint. More...
class	OMK::Iii::JointInteractorExtension
	The interactor extension associated to the joint extension. More...
class	OMK::Iii::JointExtension
	Kinematic joint between two objects. More...
Macros.
#define	DECLARE_JOINT_FACTORY(JointClass)
	This define declares factory utilities, constructor and destructor for a joint.
#define	REGISTER_JOINT_FACTORY(JointClass, Id)
	This define implements factory utilities, constructor and destructor for a joint.
Typedefs
typedef OBT::Singleton< OBT::PrototypeFactory< OMK::Name, JointCreator > >	OMK::Iii::JointFactory
	The factory of the extension.

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Detailed Description

The joints are a special extension which allows to connect an object to another object with a kinematic joint.

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Define Documentation

#define DECLARE_JOINT_FACTORY

(

JointClass

)

Value:

public: \ \
  friend class OMK::Iii::JointCreatorT< JointClass > ; \ \
  static OMK::Name OMK_CLASS_ID ; \ \
  static const bool REGISTERED_IN_JOINT_FACTORY ; \
protected: \ \
    JointClass( OMK::Iii::JointExtension* owner, const OMK::ConfigurationParameterDescriptor * node ) ; \
public: \
  virtual ~JointClass()

This define declares factory utilities, constructor and destructor for a joint.

Date:

2007-06-25

Author:

Beno� Chanclou Should be use with REGISTER_JOINT_FACTORY.

Definition at line 48 of file OMKJoint.h.

#define REGISTER_JOINT_FACTORY	(	JointClass,
		Id		)

Value:

/* Factory */ \
  OMK::Name JointClass::OMK_CLASS_ID( Id ) ; \
  const bool JointClass::REGISTERED_IN_JOINT_FACTORY( OMK::Iii::JointFactory::getInstance().registerCreator< OMK::Iii::JointCreatorT< JointClass > >( Id ) )

This define implements factory utilities, constructor and destructor for a joint.

Date:

2007-06-25

Author:

Beno� Chanclou Should be use with DECLARE_JOINT_FACTORY.

Definition at line 68 of file OMKJoint.h.

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Typedef Documentation

typedef OBT::Singleton< OBT::PrototypeFactory< OMK::Name, JointCreator > > OMK::Iii::JointFactory

The factory of the extension.

Date:

2007-02-14

Author:

Beno� Chanclou

Every extension which wants to be dynamically created must be registered in this factory.

OMK::JointFactory::getInstance().registerCreator
                < OMK::JointCreatorT< MyJoint > >( MyJoint::s_id ) ;

where

• MyJoint is the extension class, with a constructor like

  MyJoint( OMK::Iii::JointExtension* owner, const ConfigurationParameterDescriptor * node )
  

• s_id is a the id to identify the extension

  Name MyJoint::s_id( "MyJoint" ) ; 
  

  this id is used in the configuration see In the configuration file.

Definition at line 140 of file OMKJoint.h.

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