Tlink Struct Reference

Information about each rigid part of a mechanisms. More...

#include <link.h>

Collaboration diagram for Tlink:

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Data Fields
char *	name
double	s
double	c
THTransform	R
Tvector	bodies
unsigned int	axisID [3]
double	maxCoord

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Detailed Description

Information about each rigid part of a mechanisms. Each link is formed by one of more convex bodies.

See also:

link.h, link.c.

Definition at line 162 of file link.h.

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Field Documentation

char* Tlink::name

Name given to the links.

Definition at line 163 of file link.h.

Referenced by ApplyLinkRot(), CopyLink(), DeleteLink(), GenerateLinkRot(), GetLinkName(), GetTransform2Link(), and InitLink().

double Tlink::s

Sinus between the vectors defining the internal reference frame for the link.
The default value is 1.
See ChangeLinkReferenceFrame.

Definition at line 165 of file link.h.

Referenced by ChangeLinkReferenceFrame(), CopyLink(), GenerateLinkRot(), and InitLink().

double Tlink::c

Cosinus between the vectors defining the internal reference frame for the link.
The default value is 0.
See ChangeLinkReferenceFrame.

Definition at line 170 of file link.h.

Referenced by ChangeLinkReferenceFrame(), CopyLink(), GenerateLinkRot(), and InitLink().

THTransform Tlink::R

Rotation matrix defining the internal reference frame from the reference frame where bodies are defined.
The default value is the identity.
Note: For convenience, we use a homogeneous transform structure to hold the basis change but the matrix is not a homogeneous transform (the new rotation basis is not necessarilyt orthonormal). The two only operations we use from the homogeneous transform implementation are a matrix per vector product and a matrix matrix operation See ChangeLinkReferenceFrame.

Definition at line 175 of file link.h.

Referenced by ApplyLinkRot(), ChangeLinkReferenceFrame(), CopyLink(), DeleteLink(), GetTransform2Link(), and InitLink().

Tvector Tlink::bodies

Set of sub-parts of the link where each part is a convex object.
All these convex objects are defined a common reference frame, i.e., the link's reference frame.
Bodies are convex polyhedrons (see Tcpolyhedron).

Definition at line 186 of file link.h.

Referenced by AddBody2Link(), CopyLink(), DeleteLink(), GetLinkBody(), InitLink(), and LinkNBodies().

unsigned int Tlink::axisID[3]

Identifier of the three objects (lines) representing the reference frame for the link.
These identifiers are only used if axes parameter of PlotLink is larger than 0. Otherwise they are set to NO_UINT.

Definition at line 191 of file link.h.

Referenced by CopyLink(), InitLink(), MoveLink(), and PlotLink().

double Tlink::maxCoord

Maximum coordinate value used in any of the bodies of the link.

Definition at line 197 of file link.h.

Referenced by AddBody2Link(), CopyLink(), GetLinkMaxCoordinate(), and InitLink().

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The documentation for this struct was generated from the following file:

• src/CuikWorld/include/link.h