Public Member Functions
	CRepCreator3d ()

	CRepCreator3d (const CRepCreator3d &arg)

	~CRepCreator3d ()

cDynamicBase *	c3dRootRepCreator (const scl::SRobotParsed &arg_robot)

Private Member Functions
bool	createChild3dNodes (const scl::SRigidBody arg_link, cDynamicLink arg_parent_node, cDynamicBase *arg_base)

cDynamicLink *	create3dNonRootNode (const scl::SRigidBody arg_link, cDynamicLink arg_parent_node, cDynamicBase *base_obj)

Detailed Description

This class translates a scl database entry for a robot into a 3d tree. It does not store any data.

This class will ideally be used once at the start of the program to initialize the 3d branching representation.

Constructor & Destructor Documentation

scl_ext::CRepCreator3d::CRepCreator3d ( )

inline

Constructor : Does nothing. Use static function above.

scl_ext::CRepCreator3d::~CRepCreator3d ( )

inline

Destructor : Does nothing

cDynamicBase * scl_ext::CRepCreator3d::c3dRootRepCreator ( const scl::SRobotParsed & arg_robot )

Creates a 3d root structure out of a set of robot definitions. Does not manage the returned memory.

input : Robot name output : TODORoot*

Returns, NULL : failure Valid TODORoot pointer : success

NOTE : Remember to dereference the vectors in TODORoot

Creates a 3d root structure out of a set of robot definitions

Also assigns ids to the SRigidBody objects

input : Robot name output : 3dNodeRoot*

Returns, NULL : failure Valid 3dNodeRoot pointer : success

NOTE : Remember to dereference the vectors in 3dNodeRoot

cDynamicLink * scl_ext::CRepCreator3d::create3dNonRootNode	(	const scl::SRigidBody *	arg_link,
		cDynamicLink *	arg_parent_node,
		cDynamicBase *	base_obj
	)

private

Creates a 3d node for a non-root link given an initialized home frame The node is added to the SRigidBody* structure.

bool scl_ext::CRepCreator3d::createChild3dNodes	(	const scl::SRigidBody *	arg_link,
		cDynamicLink *	arg_parent,
		cDynamicBase *	arg_base
	)

private

Creates a child 3d node given a robot link with all the required information to initialize the node.

This function creates child 3d nodes for a given link in the robot's definition.

The documentation for this class was generated from the following files:

/home/samir/Code/control/scl.git/src/scl_ext/dynamics/dynamics3d/CRepCreator3d.hpp
/home/samir/Code/control/scl.git/src/scl_ext/dynamics/dynamics3d/CRepCreator3d.cpp