/home/slemaign/softs-local/BioMove3D-git/include/device.h File Reference

Device and joint structures. More...

#include "p3d_sys.h"
#include "p3d_type.h"
#include "p3d_matrix.h"
#include "polyhedre.h"
#include "p3d_poly.h"
#include "dyna_list.h"
#include "p3d.h"
#include "traj.h"
#include "localpath.h"

Go to the source code of this file.

Classes
struct	s_read_jnt_link_data
	Structure to hold the informations on links between joints. More...
struct	p3d_read_jnt_data
	Structure to store the parameters use for the joint definition. More...
struct	p3d_dof_data
	Structure used to store the data of each degree of freedom. More...
struct	link_between_joint
	Structure used to store the data of each degree of freedom. More...
struct	jnt
	Joint structure. More...
struct	lm_list_param
	List of local methods. More...
struct	rob
	Structure de robot. More...
Defines
#define	JNT_NB_DOF_MAX   6
	Maximum number of degree of freedom for complex joints.
#define	JNT_MAX_SIZE_NAME   80
	Maximum size for the name of a joint.
#define	NDOF_BASE   6
#define	NDOF_BASE_TRANSLATE   3
#define	NDOF_BASE_ROTATE   3
#define	NB_POS_PARAM   6
	Number of position parameters (x, y, z, Rx, Ry, Rz).
#define	MAX_TRANSITION   10
	Number max of check point positions.
Typedefs
typedef struct s_read_jnt_link_data	p3d_read_jnt_link_data
	Structure to hold the informations on links between joints.
typedef struct p3d_read_jnt_data	p3d_read_jnt_data
	Structure to store the parameters use for the joint definition.
typedef struct link_between_joint	p3d_link_between_joint
	Structure used to store the data of each degree of freedom.
typedef struct jnt	p3d_jnt
	Joint structure.
typedef struct jnt *	pp3d_jnt
typedef struct lm_list_param	lm_list_param_str
	List of local methods.
typedef struct lm_list_param *	plm_list_param_str
typedef struct rob	p3d_rob
	Structure de robot.
typedef struct rob *	pp3d_rob
Enumerations
enum	p3d_rob_display_mode {   P3D_ROB_DEFAULT_DISPLAY, P3D_ROB_NO_DISPLAY, P3D_ROB_UNLIT_BLACK_DISPLAY, P3D_ROB_UNLIT_RED_DISPLAY,   P3D_ROB_RED_DISPLAY, P3D_ROB_UNLIT_GREEN_DISPLAY, P3D_ROB_GREEN_DISPLAY, P3D_ROB_UNLIT_BLUE_DISPLAY,   P3D_ROB_BLUE_DISPLAY, P3D_ROB_CUSTOM_COLOR_DISPLAY, P3D_ROB_UNLIT_CUSTOM_COLOR_DISPLAY }

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Detailed Description

Device and joint structures.

Description of the joint (p3d_jnt) and device (p3d_rob) structures.

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Typedef Documentation

typedef struct p3d_read_jnt_data p3d_read_jnt_data

Structure to store the parameters use for the joint definition.

Note:

Use only for the interface of joint creation.

typedef struct s_read_jnt_link_data p3d_read_jnt_link_data

Structure to hold the informations on links between joints.

Note:

Use only for the interface of joint creation.

typedef struct rob p3d_rob

Structure de robot.

Note: For compatibility reasons, tx, ty, tz translation values dof are also stored in joints[0].p0.x, joints[0].p0.y, joints[0].p0.z

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Enumeration Type Documentation

enum p3d_rob_display_mode

This enum is used to modify how the robot will be displayed. This is meant to be used to determine if the robot is visible or hides something.

Enumerator:

P3D_ROB_DEFAULT_DISPLAY	default display mode
P3D_ROB_NO_DISPLAY	will not be displayed at all
P3D_ROB_UNLIT_BLACK_DISPLAY	will be displayed in black with no light
P3D_ROB_UNLIT_RED_DISPLAY	will be displayed in red with no light
P3D_ROB_RED_DISPLAY	will be displayed in red
P3D_ROB_UNLIT_GREEN_DISPLAY	will be displayed in green with no light
P3D_ROB_GREEN_DISPLAY	will be displayed in green
P3D_ROB_UNLIT_BLUE_DISPLAY	will be displayed in blue with no light
P3D_ROB_BLUE_DISPLAY	will be displayed in blue with
P3D_ROB_CUSTOM_COLOR_DISPLAY	will be displayed in custom color
P3D_ROB_UNLIT_CUSTOM_COLOR_DISPLAY	will be displayed in custom color with no light