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KinematicsInterfaces Interface 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 GetCmdTypes( const oListTypes,
oSize)
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
public virtual GetConnectors( oConnectors)
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
public virtual GetConstraints( oConstraints)
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 GetFrame( iFrameNumber,
oFrame)
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 GetJointValues( oValues,
    oSize)
    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 GetLowerLimit1( isLimited,
    iLimitValue)
    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 GetLowerLimit2( isLimited,
    iLimitValue)
    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
    public virtual GetProductList( oProductList)
    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 GetRatio( oRatio)
    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 GetType( const oJointType)
    Returns the type of the joint.
    Parameters:
    oJointType
    The type of the joint (basic types are defined in CATKinDefs).
    o GetUpperLimit1
    public virtual GetUpperLimit1( isLimited,
    iLimitValue)
    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 GetUpperLimit2( isLimited,
    iLimitValue)
    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 SetLowerLimit1( iLimitValue)
    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 SetLowerLimit2( iLimitValue)
    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 SetRatio( iRatio)
    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 SetUpperLimit1( iLimitValue)
    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 SetUpperLimit2( iLimitValue)
    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 UnsetLowerLimit1()
    Unsets the lower limit of the joint, for the first parameter.
    o UnsetLowerLimit2
    public virtual UnsetLowerLimit2()
    Unsets the lower limit of the joint, for the second parameter.
    o UnsetUpperLimit1
    public virtual UnsetUpperLimit1()
    Unsets the upper limit of the joint, for the first parameter.
    o UnsetUpperLimit2
    public virtual UnsetUpperLimit2()
    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

    Copyright © 2003, Dassault Systèmes. All rights reserved.