PUBLIC

SegStatTC::SegStatTC(JointT) SegStatTC::SegStatTC(const Vector3dC &,const HomtmC &,JointT) SegStatTC::SegStatTC(const SegStatTC &) SegStatTC::operator=(const SegStatTC &) SegStatTC::~SegStatTC(void) SegStatTC::SetJtypeBall(void) SegStatTC::SetJtype(const JointT &) SegStatTC::GetJtype(void) const SegStatTC::SetHomtm(const HomtmC &) SegStatTC::GetHomtm(void) const SegStatTC::staticT(void) SegStatTC::dynamicT(const SegDynaTC &) SegStatTC::nrDof(void) SegStatTC::JTtoStr(void)

SegStatTC
SegStatTC is a transformation class for an articulated figure
include	"amma/AMSegment.hh"
User Level:	Default
Library:	AMWorld
Example:	amtool.cc
Section:	Applications.Articulated models
In Scope:	std

Comments:
This class defines the static rotation of an AMSegment object ('segment') with respect to a parent AMSegment object. Data members: jtype the type of the joint between the segment and its parent rcenter vector with coordinates of the center of rotation, in the parent coordinate system homtm homogeneous transformation matrix, defining the orientation of the segment with respect to its parent

JointT jtype;

Vector3dC rcenter;

HomtmC homtm;

SegStatTC(JointT _jtype = RXRYRZ)

constructs a joint only defined by three rotational degrees of freedom

SegStatTC(const Vector3dC & _rc,const HomtmC & _ht,JointT _jt = RXRYRZ)

constructs a joint defined by three rotational degrees of freedom, an initial orientation and a center of rotation

SegStatTC(const SegStatTC & s)

Copy constructor

SegStatTC & operator=(const SegStatTC & s)

~SegStatTC()

Destructor
Acces to data members ---------------------

void SetJtypeBall()

on exit joint is RXRYRZ if it was 1 or 2 dof joint if it was either JNULL or more than 2dof joint, it remains the same

void SetJtype(const JointT & _jtype)

sets a value in jtype, discouraged as it is possible to make the joint type and homtm inconsistent so TAKE CARE!

JointT GetJtype() const

Returns the value in jtype

void SetHomtm(const HomtmC & _homtm)

Sets the value in homtm
although the joint may be a constrained joint eg RX only this matrix can still be arbitrary (at least we think so!) left as a private member in case we change our minds later

HomtmC GetHomtm() const

Returns the value in homtm
Calculating orientation -----------------------

HomtmC staticT()

HomtmC(rcenter) * homtm * HomtmC(-rcenter)

HomtmC dynamicT(const SegDynaTC & sd)

HomtmC(rcenter) * homtm * sd.homtm * HomtmC(-rcenter)
joint type consistency is checked

int nrDof()

Returns the number of degrees of freedom following from the JointT object typ

StringC JTtoStr()

converts jtype to a stringC deprecated - we should find a way of doing this that doesnt use StringC