Dtk_KinCommand Class Reference

Dtk_KinCommand represents a command to simulate a mechanism. More...

Inheritance diagram for Dtk_KinCommand:

Public Member Functions
Dtk_Int32	DtkDynamicType (const Dtk_Int32 &inId)
	Retrieves the dynamic entity type. More...
virtual int	DtkDynamicType (const int &inId)=0
virtual void	dump (FILE *file=stdout)
Dtk_status	Dump (FILE *inFile, Dtk_bool simplified)
	Write Dump file for command. More...
type_detk	get_type_detk () const
int	getId ()
	Returns the command id. More...
Dtk_KinJointPtr	getJoint ()
	Returns the joint associated at command. More...
Dtk_string	getName ()
	Returns the command name. More...
Dtk_KinParameterPtr	getParameter ()
	Returns the parameter associated at command. More...
virtual Dtk_Size_t	GetSize () const
COMMAND_TYPE	getType ()
	Returns the command type. More...
double	getValue ()
	Returns the value of the command for simulation. More...
Dtk_bool	isEqual (Dtk_KinCommandPtr inCommand)
	Test if 2 Dtk_KinCommand are equal. More...
Dtk_bool	operator== (Dtk_KinCommand &inCommand)
	Test if 2 Dtk_KinCommand are equal. More...
void	setId (int inId)
	Sets the command id. More...
void	setJoint (Dtk_KinJointPtr inJoint)
	Sets the joint associated at command. More...
void	setName (Dtk_string inName)
	Sets the command name. More...
void	setParameter (Dtk_KinParameterPtr inParam)
	Sets the parameter command. More...
void	setType (int inType)
	Sets the type of the command. More...
void	setValue (double inValue)
	Sets the command value. More...
Dtk_ErrorStatus	Transform (const Dtk_transfo &inTransfo)

Static Public Member Functions
static Dtk_KinCommandPtr	Create ()
	Base constructor. More...
static Dtk_KinCommand *	DtkDynamicCast (Dtk_Object *s)
	Performs a dynamic cast - doesn't need RTTI -. More...
static Dtk_KinCommandPtr	release (Dtk_KinCommandPtr inCommand)
	Delete object. More...

Protected Types
enum	{ _typeID = DTK_TYPE_OBJECT }
enum	{ _typeID = DTK_TYPE_KIN_COMMAND }

Protected Member Functions
void	_copy (const Dtk_Object &s)
void	_init ()
void	_reset ()
	Dtk_KinCommand ()
	Default constructor. More...
	Dtk_KinCommand (const Dtk_KinCommand &cmd)
	Copy constructor. More...
	~Dtk_KinCommand ()
	Destructor. More...

Protected Attributes
int	_ID
Dtk_KinJointPtr	_joint
	This joint belongs at the kinematic joint table. More...
Dtk_string	_name
Dtk_KinParameterPtr	_parameter
COMMAND_TYPE	_type
double	_value
unsigned long	count_

Friends
class	Dtk_Kinematic
class	Dtk_KinMechanism
class	Dtk_SmartPtr< Dtk_KinCommand >

Detailed Description

Dtk_KinCommand represents a command to simulate a mechanism.

A command is linked at a kinematic object and a mechanism object.

Member Enumeration Documentation

anonymous enum

anonymous enum

protectedinherited

Enumerator
_typeID

{ _typeID = DTK_TYPE_OBJECT }; 

anonymous enum

anonymous enum

protected

Enumerator
_typeID

               {
               _typeID = DTK_TYPE_KIN_COMMAND
          };

Constructor & Destructor Documentation

Dtk_KinCommand() [1/2]

Dtk_KinCommand::Dtk_KinCommand ( )

protected

Default constructor.

Dtk_KinCommand() [2/2]

Dtk_KinCommand::Dtk_KinCommand ( const Dtk_KinCommand &  cmd )

protected

Copy constructor.

Parameters

cmd	the Dtk_KinCommand to be copied

~Dtk_KinCommand()

Dtk_KinCommand::~Dtk_KinCommand ( )

protected

Destructor.

Member Function Documentation

_copy()

void Dtk_Object::_copy ( const Dtk_Object &  s )

protectedinherited

_init()

void Dtk_Object::_init ( )

protectedinherited

_reset()

void Dtk_Object::_reset ( )

protectedinherited

Create()

static Dtk_KinCommandPtr Dtk_KinCommand::Create ( )

static

Base constructor.

DtkDynamicCast()

static Dtk_KinCommand* Dtk_KinCommand::DtkDynamicCast ( Dtk_Object *  s )

static

Performs a dynamic cast - doesn't need RTTI -.

          { 
               if(s->DtkDynamicType(_typeID)) 
                    return static_cast<Dtk_KinCommand*>(s); 
               return NULL; 
          } 

DtkDynamicType() [1/2]

Dtk_Int32 Dtk_KinCommand::DtkDynamicType

(

const Dtk_Int32 &

inId

)

Retrieves the dynamic entity type.

          { 
               if (inId == _typeID)
               {
                    return 1; 
               }
               return Dtk_Object::DtkDynamicType(inId); 
          }

DtkDynamicType() [2/2]

virtual int Dtk_Object::DtkDynamicType ( const int &  inId )

pure virtualinherited

Implemented in Dtk_Shell, Dtk_Body, Dtk_Lump, Dtk_Volume, Dtk_Face, Dtk_Loop, Dtk_Coedge, Dtk_Edge, Dtk_Vertex, Dtk_TopologicalEntity, Dtk_MeshPolyline, Dtk_MeshSurface, Dtk_TransformedSurface, Dtk_FilletSurface, Dtk_OffsetSurface, Dtk_SphericalSurface, Dtk_ToroidalSurface, Dtk_ConicalSurface, Dtk_CylindricalSurface, Dtk_RuledSurface, Dtk_LinearExtrusionSurface, Dtk_StandardRevolutionSurface, Dtk_RevolutionSurface, Dtk_PlaneSurface, Dtk_NurbsSurface, Dtk_Surface, Dtk_Hyperbola, Dtk_Parabola, Dtk_Ellipse, Dtk_Conic, Dtk_Line, Dtk_Polyline, Dtk_NurbsCurve, Dtk_Curve, Dtk_Point, Dtk_Constraint, Dtk_ConstraintReference, Dtk_AxisSystem, Dtk_Preview, Dtk_Entity, Dtk_picture, Dtk_OverrideSet, Dtk_OverrideInfo, Dtk_MainDoc, Dtk_Component, Dtk_Node, Dtk_DocElement, Dtk_Log, and Dtk_Properties.

dump()

virtual void Dtk_Object::dump ( FILE *  file = stdout )

virtualinherited

Dump()

Dtk_status Dtk_KinCommand::Dump	(	FILE *	inFile,
		Dtk_bool	simplified
	)

Write Dump file for command.

Parameters

inFile	the output file
simplified	determine if you write a simplified file

Sample

Dtk_string fileName = ...;
File * file = fileName.ouvrir_fichier(DTK_W);
 
Dtk_KinCommand command;
command.setName(Dtk_string("sample command"));
command.setId(1);
command.Dump(file, true);

Result (simplified = true)

<command name="sample command" id="1">
</command>

Result (simplified = false)

<command name="sample command" id="1">
  <attributCommand type="" value="" /> 
  <!-- Joint associated at command / _joint.Dump(inFile,true) -->
  <!-- Parameter associated at command / _parameter.Dump(inFile) -->
</command>

get_type_detk()

type_detk Dtk_KinCommand::get_type_detk

(

)

const

Returns

The type of the entity type - DTK_TYPE_KIN_COMMAND -

{ return DTK_TYPE_KIN_COMMAND; }

getId()

int Dtk_KinCommand::getId

(

)

Returns the command id.

getJoint()

Dtk_KinJointPtr Dtk_KinCommand::getJoint

(

)

Returns the joint associated at command.

getName()

Dtk_string Dtk_KinCommand::getName

(

)

Returns the command name.

getParameter()

Dtk_KinParameterPtr Dtk_KinCommand::getParameter

(

)

Returns the parameter associated at command.

GetSize()

virtual Dtk_Size_t Dtk_Object::GetSize ( ) const

virtualinherited

Reimplemented in Dtk_Shell, Dtk_Body, Dtk_Lump, Dtk_Volume, Dtk_Face, Dtk_Loop, Dtk_Coedge, Dtk_Edge, Dtk_Vertex, Dtk_mesh_face, Dtk_mesh, Dtk_TransformedSurface, Dtk_FilletSurface, Dtk_OffsetSurface, Dtk_SphericalSurface, Dtk_ToroidalSurface, Dtk_ConicalSurface, Dtk_CylindricalSurface, Dtk_RuledSurface, Dtk_LinearExtrusionSurface, Dtk_StandardRevolutionSurface, Dtk_RevolutionSurface, Dtk_PlaneSurface, Dtk_NurbsSurface, Dtk_Surface, Dtk_Hyperbola, Dtk_Parabola, Dtk_Ellipse, Dtk_Conic, Dtk_Line, Dtk_Polyline, Dtk_NurbsCurve, Dtk_Curve, Dtk_Point, Dtk_Entity, and Dtk_Info.

getType()

COMMAND_TYPE Dtk_KinCommand::getType

(

)

Returns the command type.

getValue()

double Dtk_KinCommand::getValue

(

)

Returns the value of the command for simulation.

isEqual()

Dtk_bool Dtk_KinCommand::isEqual

(

Dtk_KinCommandPtr

inCommand

)

Test if 2 Dtk_KinCommand are equal.

Compare the id attribute.

Parameters

inCommand

Dtk_KinCommand to be tested

operator==()

Dtk_bool Dtk_KinCommand::operator==

(

Dtk_KinCommand &

inCommand

)

Test if 2 Dtk_KinCommand are equal.

Compare the id attribute.

Parameters

inCommand

Dtk_KinCommand to be tested

release()

static Dtk_KinCommandPtr Dtk_KinCommand::release ( Dtk_KinCommandPtr  inCommand )

static

Delete object.

setId()

void Dtk_KinCommand::setId

(

int

inId

)

Sets the command id.

Parameters

inId	command id

setJoint()

void Dtk_KinCommand::setJoint

(

Dtk_KinJointPtr

inJoint

)

Sets the joint associated at command.

Parameters

inJoint

Joint command

setName()

void Dtk_KinCommand::setName

(

Dtk_string

inName

)

Sets the command name.

Parameters

inName

command name

setParameter()

void Dtk_KinCommand::setParameter

(

Dtk_KinParameterPtr

inParam

)

Sets the parameter command.

Parameters

inParam

Parameter command

setType()

void Dtk_KinCommand::setType

(

int

inType

)

Sets the type of the command.

Parameters

inType

type of the command

setValue()

void Dtk_KinCommand::setValue

(

double

inValue

)

Sets the command value.

Parameters

inValue

Command value

Transform()

Dtk_ErrorStatus Dtk_KinCommand::Transform

(

const Dtk_transfo &

inTransfo

)

Friends And Related Function Documentation

Dtk_Kinematic

friend class Dtk_Kinematic

friend

Dtk_KinMechanism

friend class Dtk_KinMechanism

friend

Dtk_SmartPtr< Dtk_KinCommand >

friend class Dtk_SmartPtr< Dtk_KinCommand >

friend

Field Documentation

_ID

int Dtk_KinCommand::_ID

protected

_joint

Dtk_KinJointPtr Dtk_KinCommand::_joint

protected

This joint belongs at the kinematic joint table.

_name

Dtk_string Dtk_KinCommand::_name

protected

_parameter

Dtk_KinParameterPtr Dtk_KinCommand::_parameter

protected

_type

COMMAND_TYPE Dtk_KinCommand::_type

protected

type command:

• 1: Angle (not compound joint type)
• 2: Length (not compound joint type)
• 3: Angle (compound joint : angle command type associated at the first joint of compound joint)
• 4: Length (compound joint : length command type associated at the first joint of compound joint)
• 5: Angle (compound joint : angle command type associated at the second joint of compound joint)
• 6; Length (compound joint : length command type associated at the second joint of compound joint)

_value

double Dtk_KinCommand::_value

protected

count_

unsigned long Dtk_Object::count_

protectedinherited