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KinematicsInterfaces Interface CATIKinJoint
System.IUnknown
|
+---System.IDispatch
|
+---System.CATBaseUnknown
|
+---CATIKinJoint
Usage: an implementation of this interface is supplied and you must use it as is. You should not reimplement it.
interface CATIKinJoint
Interface to get and set kinematics joint's information.
Role: A kinematics joint has a type, involves up to three parts, has frames
and parameters which are limited.
The methods provided by this interface allow to access this information.
Method Index
- o
GetCmdTypes(char**,int*)
- Returns the available command types for the joint.
- o
GetConnectors(CATLISTP(CATBaseUnknown)**)
- Returns the connectors of the joint.
- o
GetConstraints(CATLISTP(CATBaseUnknown)**)
- Returns the constraints of the joint.
- o
GetFrame(int,double**)
- Returns a frame from the joint definition.
- o
GetJointValues(double**,int*)
- Returns the parameter values of the joint.
- o
GetLowerLimit1(int*,double*)
- Gets the lower limit existence and value
for the first parameter of the joint.
- o
GetLowerLimit2(int*,double*)
- Gets the lower limit existence and value
for the second parameter of the joint.
- o
GetProductList(CATLISTP(CATBaseUnknown)**)
- Returns the products involved in the joint.
- o
GetRatio(double*)
- Returns the ratio of the joint.
- o
GetType(char**)
- Returns the type of the joint.
- o
GetUpperLimit1(int*,double*)
- Gets the upper limit existence and value
for the first parameter of the joint.
- o
GetUpperLimit2(int*,double*)
- Gets the upper limit existence and value
for the second parameter of the joint.
- o
SetLowerLimit1(double)
- Sets the lower limit of the joint, for the first parameter.
- o
SetLowerLimit2(double)
- Sets the lower limit of the joint, for the second parameter.
- o
SetRatio(double)
- Sets the ratio of the joint.
- o
SetUpperLimit1(double)
- Sets the upper limit of the joint, for the first parameter.
- o
SetUpperLimit2(double)
- Sets the upper limit of the joint, for the second parameter.
- o
UnsetLowerLimit1()
- Unsets the lower limit of the joint, for the first parameter.
- o
UnsetLowerLimit2()
- Unsets the lower limit of the joint, for the second parameter.
- o
UnsetUpperLimit1()
- Unsets the upper limit of the joint, for the first parameter.
- o
UnsetUpperLimit2()
- Unsets the upper limit of the joint, for the second parameter.
Methods
o GetCmdTypes
public virtual HRESULT GetCmdTypes( | const char** | oListTypes, |
| int* | oSize) const=0 |
-
Returns the available command types for the joint.
- Parameters:
-
- oListTypes
- The list (allocated by the method) of types (the basic types are defined in CATKinDefs).
- oSize
- The size of the list.
o GetConnectors
-
Returns the connectors of the joint.
- Parameters:
-
- oConnectors
- The list of connectors involved in the joint (allocated by the method).
- See also:
- CATLISTP(CATBaseUnknown)
o GetConstraints
-
Returns the constraints of the joint.
- Parameters:
-
- oConstraints
- The list of constraints involved in the joint (allocated by the method).
- See also:
- CATLISTP(CATBaseUnknown)
o GetFrame
public virtual HRESULT GetFrame( | int | iFrameNumber, |
| double** | oFrame) const=0 |
-
Returns a frame from the joint definition.
- Parameters:
-
- iFrameNumber
- The index of the frame you want to get (1,2,3 or 4)
- oFrame
- The frame defined by a 12 double vector (allocated by the method) set as following :
- Position 0 to 2 : the first vector coordinates
- Position 3 to 5 : the second vector coordinates
- Position 6 to 8 : the third vector coordinates
- Position 9 to 11 : the origin coordinates
o GetJointValues
public virtual HRESULT GetJointValues( | double** | oValues, |
| int* | oSize) const=0 |
-
Returns the parameter values of the joint.
- Parameters:
-
- oValues
- The list of values (allocated by the method).
- oSize
- The size of the list.
o GetLowerLimit1
public virtual HRESULT GetLowerLimit1( | int* | isLimited, |
| double* | iLimitValue) const=0 |
-
Gets the lower limit existence and value
for the first parameter of the joint.
- Parameters:
-
- isLimited
- isLimited equals 1 if the limit is defined, 0 otherwise
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which paramter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o GetLowerLimit2
public virtual HRESULT GetLowerLimit2( | int* | isLimited, |
| double* | iLimitValue) const=0 |
-
Gets the lower limit existence and value
for the second parameter of the joint.
- Parameters:
-
- isLimited
- isLimited equals 1 if the limit is defined, 0 otherwise
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which paramter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o GetProductList
-
Returns the products involved in the joint.
- Parameters:
-
- oProductList
- The list of products involved in the joint (allocated by the method)
- See also:
- CATLISTP(CATBaseUnknown)
o GetRatio
public virtual HRESULT GetRatio( | double* | oRatio) const=0 |
-
Returns the ratio of the joint.
(applies only to the following types: gear, rack, cable, screw)
- Parameters:
-
- oRatio
- The ratio (or pitch) of the joint
o GetType
public virtual HRESULT GetType( | const char** | oJointType) const=0 |
-
Returns the type of the joint.
- Parameters:
-
- oJointType
- The type of the joint (basic types are defined in CATKinDefs).
o GetUpperLimit1
public virtual HRESULT GetUpperLimit1( | int* | isLimited, |
| double* | iLimitValue) const=0 |
-
Gets the upper limit existence and value
for the first parameter of the joint.
- Parameters:
-
- isLimited
- isLimited equals 1 if the limit is defined, 0 otherwise
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which paramter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o GetUpperLimit2
public virtual HRESULT GetUpperLimit2( | int* | isLimited, |
| double* | iLimitValue) const=0 |
-
Gets the upper limit existence and value
for the second parameter of the joint.
- Parameters:
-
- isLimited
- isLimited equals 1 if the limit is defined, 0 otherwise
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which paramter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o SetLowerLimit1
public virtual HRESULT SetLowerLimit1( | double | iLimitValue) const=0 |
-
Sets the lower limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which parameter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o SetLowerLimit2
public virtual HRESULT SetLowerLimit2( | double | iLimitValue) const=0 |
-
Sets the lower limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
Table of joints that can have limits on the second parameter:
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
o SetRatio
public virtual HRESULT SetRatio( | double | iRatio) const=0 |
-
Sets the ratio of the joint.
(applies only to the following types: gear, rack, cable, screw)
- Parameters:
-
- iRatio
- The ratio (or pitch) to set. It must be different to 0.
o SetUpperLimit1
public virtual HRESULT SetUpperLimit1( | double | iLimitValue) const=0 |
-
Sets the upper limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
Table of joints that can have limits, and on which parameter:
Revolute: 1
Prismatic: 1
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
PointOnCurve: 1
RollCurve: 1
o SetUpperLimit2
public virtual HRESULT SetUpperLimit2( | double | iLimitValue) const=0 |
-
Sets the upper limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
Table of joints that can have limits on the second parameter:
Cylindrical: 1 2
Screw: 1 2
Gear: 1 2
Rack: 1 2
Cable: 1 2
o UnsetLowerLimit1
public virtual HRESULT UnsetLowerLimit1( | )const=0 |
-
Unsets the lower limit of the joint, for the first parameter.
o UnsetLowerLimit2
public virtual HRESULT UnsetLowerLimit2( | )const=0 |
-
Unsets the lower limit of the joint, for the second parameter.
o UnsetUpperLimit1
public virtual HRESULT UnsetUpperLimit1( | )const=0 |
-
Unsets the upper limit of the joint, for the first parameter.
o UnsetUpperLimit2
public virtual HRESULT UnsetUpperLimit2( | )const=0 |
-
Unsets the upper limit of the joint, for the second parameter.
This object is included in the file: CATIKinJoint.h
If needed, your Imakefile.mk should include the module: CATKiiKinematicsItf