mRobotgl Class Reference

#include <robotgl.h>

Inheritance diagram for mRobotgl:

List of all members.

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Detailed Description

Modified Denavit-Hartenberg compatible OpenGL-roboop robot model.

The mRobotgl is openGL version of the mRobot from the ROBOOP package. mRobotgl encapsulates an array of jointgl and Linkgl and provides a list of constructor and a method to draw the model.

Definition at line 192 of file robotgl.h.

Public Member Functions
	mRobotgl (const short ndof=1)
	Constructor.
	mRobotgl (const Matrix &initrob, const ColumnVector &position)
	Constructor.
	mRobotgl (const Matrix &initrob, const Matrix &initrobm, const ColumnVector &position)
	Constructor.
	mRobotgl (const string &filename, const string &robotName, const ColumnVector &position)
	Constructor.
	mRobotgl (const mRobotgl &x)
	Copy constructor.
	~mRobotgl ()
mRobotgl &	operator= (const mRobotgl &x)
	Destructor.
virtual void	draw ()
	Draws the robot model on the current openGL context.

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Constructor & Destructor Documentation

mRobotgl::mRobotgl

(

const short

ndof = 1

)

Constructor.

Parameters:

ndof,:

defines the number of degree of freedom.

Definition at line 449 of file robotgl.cpp.

References Basic_object::message_object.

mRobotgl::mRobotgl	(	const Matrix &	initrob,
		const ColumnVector &	position
	)

Constructor.

Parameters:

	initrob,:	contains the physical configuration of the robot.
	pos,:	Base frame position vector.

Definition at line 460 of file robotgl.cpp.

References Robotgl_basic::jointgl, Robotgl_basic::linkgl, Basic_object::message_object, NbParametresPerLink, Robotgl_basic::pos, Basic_object::position, and Robotgl_basic::set_dof().

mRobotgl::mRobotgl	(	const Matrix &	initrob,
		const Matrix &	initrobm,
		const ColumnVector &	position
	)

Constructor.

Parameters:

	initrob	contains the physical configuration of the robot.
	initrobm	contains the motor configuration of the robot.
	pos,:	base frame position vector.

Definition at line 500 of file robotgl.cpp.

References Robotgl_basic::jointgl, Robotgl_basic::linkgl, Basic_object::message_object, NbParametresPerLink, Robotgl_basic::pos, Basic_object::position, and Robotgl_basic::set_dof().

mRobotgl::mRobotgl	(	const string &	filename,
		const string &	robotName,
		const ColumnVector &	position
	)

Constructor.

Parameters:

	filename,:	robot configuration file.
	robotName,:	basic section name.
	position,:	base frame position vector.

Definition at line 541 of file robotgl.cpp.

References Robotgl_basic::jointgl, Robotgl_basic::linkgl, Basic_object::message_object, NbParametresPerLink, Robotgl_basic::pos, Basic_object::position, and Robotgl_basic::set_dof().

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