#include <ArticulatedHierarchyContainer.h>
This class defines an articulation. An articulation is defined by an axis, an orientation and an index. All the variables which are defined in this class can be modified once sofa is running.
Public Attributes | |
Data< type::Vec3 > | axis |
Set the rotation axis for the articulation. More... | |
Data< bool > | rotation |
Rotation. More... | |
Data< bool > | translation |
Translation. More... | |
Data< int > | articulationIndex |
Articulation index. More... | |
std::vector< double > | motion |
ArticulatedHierarchyContainer::Transform | H_pLc_a |
Public Member Functions | |
SOFA_CLASS (Articulation, core::objectmodel::BaseObject) | |
Protected Member Functions | |
Articulation () | |
~Articulation () override | |
Data<int> articulatedsystemplugin::Articulation::articulationIndex |
Articulation index.
This is global index to number the articulations
Data<type::Vec3> articulatedsystemplugin::Articulation::axis |
Set the rotation axis for the articulation.
this variable defines the motion axis
ArticulatedHierarchyContainer::Transform articulatedsystemplugin::Articulation::H_pLc_a |
For Arboris Mapping H_pLc_a : transformation accumulates the successive transformation provided by articulations on the same articulation center
std::vector<double> articulatedsystemplugin::Articulation::motion |
Data<bool> articulatedsystemplugin::Articulation::rotation |
Rotation.
If true, this variable sets a rotation motion otherwise it does nothing
Data<bool> articulatedsystemplugin::Articulation::translation |
Translation.
If true, this variable sets a translation motion otherwise it does nothing
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protected |
An articulation is defined by an axis, an orientation and an index.
axis | is a Vec3. It determines the motion axis |
rotation | is a boolean. If true, it defines a rotation motion. Otherwise it does nothing. |
translation | is a boolean. If true, it defines a translation motion. Otherwise it does nothing. |
articulationIndex | is an integer. This index identifies, in an univocal way, one articulation from the set of articulations of a rigid object. |
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inlineoverrideprotected |
articulatedsystemplugin::Articulation::SOFA_CLASS | ( | Articulation | , |
core::objectmodel::BaseObject | |||
) |