Structure de robot. More...

#include <device.h>

Public Attributes
char *	name
int	num
	Robot number in the environment (env::robots).
int	ui_kin_num
	Identifier of device data structure in ::XYZ_DEVICE defined through UI KINEMATICS.
int	is_used_in_env_flag
	Counts number of times the device was used in an environment.
int	kinematic_type
struct env *	env
int	no
p3d_obj **	o
p3d_obj *	ocur
int	nb_dof
	Number of degre of freedom in the robot.
int	nb_user_dof
	Number of degre of freedom in the robot user config.
int	njoints
	Number of joints in rob::joints.
p3d_jnt **	joints
	Array of joints in the robot.
p3d_jnt *	j_modif
	First joint modified.
p3d_jnt *	first_joint
	First of the kinematic chain.
p3d_matrix4 *	first_abs_pos
	Absolute position of the first joint.
int	nt
	Number of trajectories stored in array rob::t.
p3d_traj **	t
	Array of pointers to trajectories.
p3d_traj *	tcur
	Pointer to current trajectory.
p3d_box	box
	Bounds for the base joint.
double	rx
	Rotation angles of main body.
double	ry
	Rotation angles of main body.
double	rz
	Rotation angles of main body.
double	vmin_rot [NDOF_BASE_ROTATE]
	Minimal bounds for the orientations of main body.
double	vmax_rot [NDOF_BASE_ROTATE]
	Maximal bounds for the orientations of main body.
int	coll
	Flag to show the robot collision.
p3d_BB	BB
	Robot bounding box.
int	nconf
	Number of configuration.
config_namePt *	conf
	array of configuration
config_namePt	confcur
	current configuration
configPt	ROBOT_POS
	Current configuration.
configPt	ROBOT_GOTO
	Goal configuration.
configPt	transitionConfigs [MAX_TRANSITION]
	Transition configuration.
int	nTransition
	Number of transition configurations.
int *	ikSolPos
	Start iksol vector.
int *	ikSolGoto
	Goal iksol vector.
int *	ikSolTransition [MAX_TRANSITION]
	Transition iksol vector.
int *	ikSol
	the robot IKSol
int	sdk_id_qinit
	sdk identifier of ROBOT_POS (for sdk only !)
int	sdk_id_qgoal
	sdk identifier of ROBOT_GOTO (for sdk only !)
double *	length_array
	array of length coefficients weighting values of angular joints in distance computations.
p3d_localpath_type	lpl_type
	Current local planner associated to the robot.
plm_list_param_str	local_method_params
	Parameters of local planner associated to the robot.
struct graph *	GRAPH
	robot free positions graph
struct cntrt_management *	cntrt_manager
	Management of robot's constraints.
void *	user_appli
	pointer for user applications
configPt	currect_q_inv
p3d_rob_display_mode	display_mode
int	show_pos_area
double	max_pos_range
double	min_pos_range
double	angle_range
int	show_view_field
double	cam_pos [3]
double	cam_dir [3]
int	cam_axe
double	cam_pan
double	cam_tilt
double	cam_max_range
double	cam_min_range
double	cam_h_angle
double	cam_v_angle
int	cam_body_index
int	caption_selected
void *	lookatpoint
int	draw_custom_color
int	draw_transparent
int	inhibitCollisionTolerance

Detailed Description

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

Member Data Documentation

p3d_box rob::box

Bounds for the base joint.

Warning:: Doesn't use anymore (stored in the ::P3D_BASE joint).

p3d_rob_display_mode rob::display_mode

used to modify how the robot will be displayed (default display, red display,etc.)

p3d_matrix4* rob::first_abs_pos

Absolute position of the first joint.

This gives the absolute position of the first joint (rob::first_joint). If the pointer is NULL, then the absolute position (jnt::abs_pos) is given by the joint matrix (jnt::jnt_mat).

p3d_jnt* rob::first_joint

First of the kinematic chain.

It could be use to inverse the cinematic. If it is NULL, use the first joint of rob::joints.

int rob::inhibitCollisionTolerance

used to un/authorize collision test for this robot with a threshold distance instead of exact collision test (only used if the chosen collision checker is PQP)

p3d_jnt* rob::j_modif

First joint modified.