SCL  1.0
Standard Control Library : Control, dynamics, physics, and simulation
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Public Member Functions | Public Attributes | Protected Attributes | List of all members
scl::SVirtualLinkage Class Reference

#include <SVirtualLinkage.hpp>

Inheritance diagram for scl::SVirtualLinkage:
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Collaboration diagram for scl::SVirtualLinkage:
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Public Member Functions

 SVirtualLinkage ()
virtual ~SVirtualLinkage ()
virtual const std::string & getType () const
virtual const std::string & getName () const
virtual bool hasBeenInit () const

Public Attributes

< std::string, SForceContact
std::string name_
sBool has_been_init_

Protected Attributes

std::string type_

Detailed Description

This describes the set of forces applied by an actuated articulated body (robot) on an unactuated articulated or rigid body. For instance, a humanoid robot could be applying some forces on a block that it is holding with two hands.

Example : A three armed robot could be manipulating a triple pendulum without holding the middle pendulum link. The virtual linkage will specify all forces acting on the triple pendulum

—*–O---—O–*—*– | | | O--—O-—O-O—O | ===========O==========

Rigid body : — Joint : O Grasp point : * Ground : ===

Constructor & Destructor Documentation

scl::SVirtualLinkage::SVirtualLinkage ( )

Default constructor : Does nothing

virtual scl::SVirtualLinkage::~SVirtualLinkage ( )

Default destructor : Does nothing

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

Get the object's type

Member Data Documentation

sutil::CMappedList<std::string, SForceContact> scl::SVirtualLinkage::contact_list_

The list of contact points

sBool scl::SObject::has_been_init_

Whether the object is ready for use

std::string scl::SObject::name_

The object's name

std::string scl::SObject::type_

The object's type. Should only be set by the constructor

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