RobWorkProject: ConstraintNode Class Reference

The ConstraintNode describes a specific object that can be constrained in some way. It is an interface that enables inheriting classes to be used by the ConstraintGraph class. The specific constraints between ConstraintNode's are described by the ConstraintEdge. More...

#include <ConstraintNode.hpp>

Public Types
enum	NodeType { Rigid , Fixed , Link , Scripted , Part , CompositeBody , MultiBody , Rule , Trigger , Timer }
	types of constraintnodes

Public Member Functions
	ConstraintNode (NodeType type, int id)

	ConstraintNode (ConstraintNode *parent, NodeType type, int id)

void	setType (NodeType type)

void	setDeleted (bool del)
	hmm?

bool	isDeleted () const
	hmm?

bool	isPassive () const
	hmm?

bool	isPhysical () const
	returns true if this node has physical

bool	isTrigger () const
	returns true is this node is of the type trigger

void	addEdge (ConstraintEdge &edge)
	ad a constraint to this node

std::list< ConstraintEdge * > &	getEdges ()
	returns the list of constraints that works on this node

void	removeEdge (ConstraintEdge *edge)
	removes a constraint (Edge) from this node

NodeType	getNodeType () const
	return the type of this node

ConstraintNode *	getParentNode ()

void	setFrame (rw::core::Ptr< rw::kinematics::Frame > frame)

rw::kinematics::Frame *	getFrame ()
	return the frames which this node is associated with

void	setID (int id)

int	getID () const

RWBody *	getBody ()

void	setBody (RWBody *body)

Public Attributes
void *	data

int	_idx

Detailed Description

A ConstraintNode will allways be related to a frame. Multiple ConstraintNodes cannot point to the same frame. Which means that there is a one-to-one relationship between frame and node.

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

ConstraintNode.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description