Dtk_KinConstraint Class Reference

Dtk_KinConstraint represents a constraint to define a joint. More...

Inheritance diagram for Dtk_KinConstraint:

Public Member Functions
void	addAttribute (Dtk_string inAttribute)
	Add inAttribute at the attribute table. More...
void	addConnector (Dtk_KinConnectorPtr inConnector)
	Add a connector at the connector table. More...
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 constraint. More...
type_detk	get_type_detk () const
Dtk_string	getAttribute (Dtk_Size_t inPosition)
	Returns Dtk_string at position inPosition. More...
Dtk_Size_t	getAttributeSize ()
	Return the attribute tab size. More...
Dtk_KinConnectorPtr	getConnector (Dtk_Size_t inPosition)
	Returns the connector at inPosition. More...
Dtk_Size_t	getConnectorSize ()
	Return the attribute tab size. More...
int	getId ()
	Retrun the constraint id. More...
int	getModeInteger ()
	Returns the Dtk_KinParameter represents the mode integer. More...
Dtk_string	getName ()
	Returns the constraint name. More...
Dtk_KinParameterPtr	getOrientation ()
	Returns the Dtk_KinParameter represents the orientation. More...
Dtk_transfo	getPosition ()
	Returns the part position. More...
Dtk_KinParameterPtr	getReference ()
	Returns the Dtk_KinParameter represents the reference. More...
virtual Dtk_Size_t	GetSize () const
Dtk_KinParameterPtr	getValue ()
	Returns the Dtk_KinParameter represents the constraint value. More...
Dtk_bool	hasAttribute (Dtk_string inAttributeName)
	Test if an attribute name belong at the attribute table. More...
Dtk_bool	isEqual (Dtk_KinConstraintPtr inConstraint)
	Test if 2 Dtk_KinConstraint is equal. More...
Dtk_bool	operator== (Dtk_KinConstraint &inConstraint)
	Test if 2 Dtk_KinConstraint is equal. More...
void	replaceConnector (Dtk_Size_t inPosition, Dtk_KinConnectorPtr inConnector)
	Replace the connector at position inPosition by the connector inConnector. More...
void	setId (int inId)
	Sets the constraint id. More...
void	setModeInteger (int inMode)
	Sets the parameter for mode integer. More...
void	setName (Dtk_string inName)
	Sets the constraint name. More...
void	setOrientation (Dtk_KinParameterPtr inParam)
	Sets the parameter for orientation. More...
void	setPosition (Dtk_transfo transfo)
	Sets the part position. More...
void	setReference (Dtk_KinParameterPtr inParam)
	Sets the parameter for reference attribute. More...
void	setValue (Dtk_KinParameterPtr inParam)
	Sets the parameter for value. More...
Dtk_ErrorStatus	Transform (const Dtk_transfo &inTransfo)

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

Data Fields
Dtk_string	_MODE_INTEGER
	Name for optional attribute. More...
Dtk_string	_ORIENTATION
	Name for optional attribute. More...
Dtk_string	_POSITION
	Name for optional attribute. More...
Dtk_string	_REFERENCE
	Name for optional attribute. More...
Dtk_string	_VALUE
	Name for optional attribute. More...

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

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

Protected Attributes
Dtk_StringTab	_attributeTable
	Contains the names of the defining optional attributes forced. More...
Dtk_KinConnectorTab	_connectors
int	_ID
int	_modeInteger
	Optional attribute (offset constraint) More...
Dtk_string	_name
Dtk_KinParameterPtr	_orientation
	Optional attribute (offset constraint) More...
Dtk_transfo	_position
	Optional attribute (fix constraint) More...
Dtk_KinParameterPtr	_reference
	Optional attribute (fix constraint) More...
Dtk_KinParameterPtr	_value
	Optional attribute (offset constraint) More...
unsigned long	count_

Friends
class	Dtk_Kinematic
class	Dtk_KinFixPart
class	Dtk_KinJoint
class	Dtk_SmartPtr< Dtk_KinConstraint >

Detailed Description

Dtk_KinConstraint represents a constraint to define a joint.

Constraints types:

• Coincidence
• Offset
• Fix (only for fix part of mechanism)
• FixTogether (only with Rigid joint)

A constraint is linked at a kinematic object and a joint 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_CONSTRAINT
          };

Constructor & Destructor Documentation

Dtk_KinConstraint() [1/2]

Dtk_KinConstraint::Dtk_KinConstraint ( )

protected

Default constructor.

Dtk_KinConstraint() [2/2]

Dtk_KinConstraint::Dtk_KinConstraint ( const Dtk_KinConstraint &  constraint )

protected

Copy constructor.

Parameters

constraint

the Dtk_KinConstraint to be copied

~Dtk_KinConstraint()

Dtk_KinConstraint::~Dtk_KinConstraint ( )

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

addAttribute()

void Dtk_KinConstraint::addAttribute

(

Dtk_string

inAttribute

)

Add inAttribute at the attribute table.

Parameters

inAttribute

Attribute name to be added

If the attribute table doesn't contain inAttribute, add inAttribute at the attribut table

addConnector()

void Dtk_KinConstraint::addConnector

(

Dtk_KinConnectorPtr

inConnector

)

Add a connector at the connector table.

Parameters

inConnector

the connector to be added

The connector is added if connector table doesn't contain this connector

Create()

static Dtk_KinConstraintPtr Dtk_KinConstraint::Create ( )

static

Base constructor.

DtkDynamicCast()

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

static

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

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

DtkDynamicType() [1/2]

Dtk_Int32 Dtk_KinConstraint::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_KinConstraint::Dump	(	FILE *	inFile,
		Dtk_bool	simplified
	)

Write Dump file for constraint.

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_KinConstraint constraint;
constraint.setName(Dtk_string("sample constraint"));
constraint.setId(1);
constraint.Dump(file, true);

Result (simplified = true)

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

Result (simplified = false)
All attributes are represented. Some attributes could not appear into out file.

<constraint name="sample constraint" id="1">
  <attributConstraint modeInteger="" value="" orientation="" fixInSpace="">
    <matricePosition nbValue="12" _1="" _2="" _3="" _4="" _5="" _6="" _7="" _8="" _9="" _10="" _11="" _12="" /> 
  </attributConstraint>
  <parts>
    <!-- Parts associated at constraint -->
    <!-- part.Dump(inFile, true)  -->
  </parts>
</constraint>

get_type_detk()

type_detk Dtk_KinConstraint::get_type_detk

(

)

const

Returns

The type of the entity type - DTK_TYPE_KINEMATICS -

{ return DTK_TYPE_KIN_CONSTRAINT; }

getAttribute()

Dtk_string Dtk_KinConstraint::getAttribute

(

Dtk_Size_t

inPosition

)

Returns Dtk_string at position inPosition.

Parameters

inPosition

position of element

If position is out bounds, Returns Dtk_string()

getAttributeSize()

Dtk_Size_t Dtk_KinConstraint::getAttributeSize

(

)

Return the attribute tab size.

getConnector()

Dtk_KinConnectorPtr Dtk_KinConstraint::getConnector

(

Dtk_Size_t

inPosition

)

Returns the connector at inPosition.

Parameters

inPosition

position of the connector

If position is out bounds, returns NULL.

getConnectorSize()

Dtk_Size_t Dtk_KinConstraint::getConnectorSize

(

)

Return the attribute tab size.

getId()

int Dtk_KinConstraint::getId

(

)

Retrun the constraint id.

getModeInteger()

int Dtk_KinConstraint::getModeInteger

(

)

Returns the Dtk_KinParameter represents the mode integer.

getName()

Dtk_string Dtk_KinConstraint::getName

(

)

Returns the constraint name.

getOrientation()

Dtk_KinParameterPtr Dtk_KinConstraint::getOrientation

(

)

Returns the Dtk_KinParameter represents the orientation.

getPosition()

Dtk_transfo Dtk_KinConstraint::getPosition

(

)

Returns the part position.

getReference()

Dtk_KinParameterPtr Dtk_KinConstraint::getReference

(

)

Returns the Dtk_KinParameter represents the reference.

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.

getValue()

Dtk_KinParameterPtr Dtk_KinConstraint::getValue

(

)

Returns the Dtk_KinParameter represents the constraint value.

hasAttribute()

Dtk_bool Dtk_KinConstraint::hasAttribute

(

Dtk_string

inAttributeName

)

Test if an attribute name belong at the attribute table.

Parameters

inAtributeName

Name of attribute

The attribute table contains names of optional attribute used. The attribute name is defined with static variable.

isEqual()

Dtk_bool Dtk_KinConstraint::isEqual

(

Dtk_KinConstraintPtr

inConstraint

)

Test if 2 Dtk_KinConstraint is equal.

Compare the id attribute.

Parameters

inPart

Dtk_KinConstraint to be tested

operator==()

Dtk_bool Dtk_KinConstraint::operator==

(

Dtk_KinConstraint &

inConstraint

)

Test if 2 Dtk_KinConstraint is equal.

Compare the id attribute.

Parameters

inPart

Dtk_KinConstraint to be tested

release()

static Dtk_KinConstraintPtr Dtk_KinConstraint::release ( Dtk_KinConstraintPtr  inPart )

static

Delete object.

replaceConnector()

void Dtk_KinConstraint::replaceConnector	(	Dtk_Size_t	inPosition,
		Dtk_KinConnectorPtr	inConnector
	)

Replace the connector at position inPosition by the connector inConnector.

setId()

void Dtk_KinConstraint::setId

(

int

inId

)

Sets the constraint id.

Parameters

inId	constraint id

setModeInteger()

void Dtk_KinConstraint::setModeInteger

(

int

inMode

)

Sets the parameter for mode integer.

Parameters

inMode

mode integer

The MODE_INTEGER name is added at attribute table.

setName()

void Dtk_KinConstraint::setName

(

Dtk_string

inName

)

Sets the constraint name.

Parameters

inName

constraint name

setOrientation()

void Dtk_KinConstraint::setOrientation

(

Dtk_KinParameterPtr

inParam

)

Sets the parameter for orientation.

Parameters

inParam

orientation

The ORIENTATION name is added at attribute table.

setPosition()

void Dtk_KinConstraint::setPosition

(

Dtk_transfo

transfo

)

Sets the part position.

Parameters

transfo

Postion of the part

The POSITION name is added at attribute table

setReference()

void Dtk_KinConstraint::setReference

(

Dtk_KinParameterPtr

inParam

)

Sets the parameter for reference attribute.

Parameters

inParam

reference attribute

The REFERENCE name is added at attribute table

setValue()

void Dtk_KinConstraint::setValue

(

Dtk_KinParameterPtr

inParam

)

Sets the parameter for value.

Parameters

inParam

value

The VALUE name is added at attribute table.

Transform()

Dtk_ErrorStatus Dtk_KinConstraint::Transform

(

const Dtk_transfo &

inTransfo

)

Friends And Related Function Documentation

Dtk_Kinematic

friend class Dtk_Kinematic

friend

Dtk_KinFixPart

friend class Dtk_KinFixPart

friend

Dtk_KinJoint

friend class Dtk_KinJoint

friend

Dtk_SmartPtr< Dtk_KinConstraint >

friend class Dtk_SmartPtr< Dtk_KinConstraint >

friend

Field Documentation

_attributeTable

Dtk_StringTab Dtk_KinConstraint::_attributeTable

protected

Contains the names of the defining optional attributes forced.

_connectors

Dtk_KinConnectorTab Dtk_KinConstraint::_connectors

protected

_ID

int Dtk_KinConstraint::_ID

protected

_MODE_INTEGER

Dtk_string Dtk_KinConstraint::_MODE_INTEGER

Name for optional attribute.

_modeInteger

int Dtk_KinConstraint::_modeInteger

protected

Optional attribute (offset constraint)

• 1: case reference not checked
• 2: case reference checked

_name

Dtk_string Dtk_KinConstraint::_name

protected

_ORIENTATION

Dtk_string Dtk_KinConstraint::_ORIENTATION

Name for optional attribute.

_orientation

Dtk_KinParameterPtr Dtk_KinConstraint::_orientation

protected

Optional attribute (offset constraint)

• 1: same orientation
• 2: opposite orientation
• 3: undefined orientation

_POSITION

Dtk_string Dtk_KinConstraint::_POSITION

Name for optional attribute.

_position

Dtk_transfo Dtk_KinConstraint::_position

protected

Optional attribute (fix constraint)

_REFERENCE

Dtk_string Dtk_KinConstraint::_REFERENCE

Name for optional attribute.

_reference

Dtk_KinParameterPtr Dtk_KinConstraint::_reference

protected

Optional attribute (fix constraint)

• 1: case fix in space checked
• 2: case fix in space not checked

_VALUE

Dtk_string Dtk_KinConstraint::_VALUE

Name for optional attribute.

_value

Dtk_KinParameterPtr Dtk_KinConstraint::_value

protected

Optional attribute (offset constraint)

count_

unsigned long Dtk_Object::count_

protectedinherited