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Sim::Link Class Reference

Link defines a solid and mobile part of the robot. More...

#include <alrobotmodel.h>

List of all members.

Public Types

enum  LinkType { CLASSIC, WHEEL_OMNI }

Public Member Functions

 Link ()
 creates an empty Link, you should not use this.
virtual ~Link ()
 destructor.
const Frameframe () const
 returns the Frame of the Link.
const std::string & name () const
 returns the name of the Link.
const JointparentJoint () const
 returns the parent joint of the link. Only the root link has no parent joint.
const std::vector< const Joint * > childrenJoints () const
 returns the children joints of the link. A link can have 0 or more children links.
const MassDatamass () const
 returns the MassData of the Link.
const std::string & frictionMaterial () const
 returns the friction material of the Link.
const VisualDatavisual () const
 returns the VisualData of the Link.
LinkType type () const
 returns the link type.

Public Attributes

class LinkImpl * a_impl
 private implementation.

Detailed Description

Link defines a solid and mobile part of the robot.

Definition at line 375 of file alrobotmodel.h.


Constructor & Destructor Documentation

Sim::Link::Link ( )

creates an empty Link, you should not use this.

Warning:
The Link being empty, every access to this object will throw.

Member Function Documentation

const Frame* Sim::Link::frame ( ) const

returns the Frame of the Link.

Remarks:
The Frame of the Link allows defining mass and sensors position in a convenient way. Generally in this frame, the z-axis points up and x points forward. See Hardware section of Motion's documentation for more details.

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