AnyCAD Rapid SDK  2021
The Rapid CAD SDK
Public Member Functions | Static Public Member Functions | Protected Member Functions | Static Protected Member Functions | List of all members
RobotArm Class Reference
Inheritance diagram for RobotArm:
GroupSceneNode SceneNode GfxObject

Public Member Functions

synchronized void delete ()
 
float GetAxisSize ()
 
void SetAxisSize (float val)
 
String GetName ()
 
void SetName (String val)
 
long AddJoint (EnumRobotJointType jointType, double alpha, double a, double d, double theta, RobotDH biasDH)
 
long AddJoint (EnumRobotJointType jointType, double alpha, double a, double d, double theta)
 
RobotJoint GetJoint (long idx)
 
void RemoveTailJoint ()
 
long GetJointCount ()
 
long AddLink (long jointIdx, SceneNode bone)
 
RobotLink GetLink (long idx)
 
long GetLinkCount ()
 
void ResetInitialState ()
 
boolean SetVariable (long idx, double v)
 
double GetVariable (long idx)
 
void UpdateFrames ()
 
Matrix4 GetFinalTransform ()
 
void ShowVirtualLinks (boolean bShow)
 
void ShowLinks (boolean bShow)
 
void ShowJoints (boolean bShow)
 
Uint32List SelfCollisionTest ()
 
RobotArm CloneRobotArm ()
 
SceneNode Clone ()
 
- Public Member Functions inherited from GroupSceneNode
synchronized void delete ()
 
SceneNodeIterator CreateIterator ()
 
void AddNode (SceneNode node)
 
boolean RemoveNode (long nodeId)
 
SceneNode FindNode (long nodeId)
 
long GetCount ()
 
void UpdateTransform (Matrix4 parent)
 
SceneNode Clone ()
 
- Public Member Functions inherited from SceneNode
synchronized void delete ()
 
long GetUserId ()
 
void SetUserId (long val)
 
Matrix4 GetTransform ()
 
void SetTransform (Matrix4 val)
 
AxisAlignedBox GetBoundingBox ()
 
void SetBoundingBox (AxisAlignedBox val)
 
Matrix4 GetWorldTransform ()
 
AxisAlignedBox GetWorldBBox ()
 
boolean GetCastShadow ()
 
void SetCastShadow (boolean val)
 
boolean GetPickable ()
 
void SetPickable (boolean val)
 
boolean GetCulling ()
 
void SetCulling (boolean val)
 
boolean GetVisible ()
 
void SetVisible (boolean val)
 
SceneNode GetParent ()
 
void SetParent (SceneNode val)
 
long GetUpdateVersion ()
 
void SetUpdateVersion (long val)
 
SceneNode Clone ()
 
void RequstUpdate ()
 
void UpdateTransform (Matrix4 parent)
 
AxisAlignedBox ComputeBoundingBox (Matrix4 parent)
 
boolean IsVisiblePath ()
 
- Public Member Functions inherited from GfxObject
synchronized void delete ()
 
long GetUuid ()
 
void SetUuid (long val)
 

Static Public Member Functions

static RobotArm Cast (GroupSceneNode obj)
 
- Static Public Member Functions inherited from GroupSceneNode
static GroupSceneNode Cast (SceneNode obj)
 
- Static Public Member Functions inherited from SceneNode
static SceneNode Cast (GfxObject obj)
 

Protected Member Functions

 RobotArm (long cPtr, boolean cMemoryOwn)
 
void swigSetCMemOwn (boolean own)
 
void finalize ()
 
- Protected Member Functions inherited from GroupSceneNode
 GroupSceneNode (long cPtr, boolean cMemoryOwn)
 
void swigSetCMemOwn (boolean own)
 
void finalize ()
 
- Protected Member Functions inherited from SceneNode
 SceneNode (long cPtr, boolean cMemoryOwn)
 
void swigSetCMemOwn (boolean own)
 
void finalize ()
 
- Protected Member Functions inherited from GfxObject
 GfxObject (long cPtr, boolean cMemoryOwn)
 
void swigSetCMemOwn (boolean own)
 
void finalize ()
 

Static Protected Member Functions

static long getCPtr (RobotArm obj)
 
- Static Protected Member Functions inherited from GroupSceneNode
static long getCPtr (GroupSceneNode obj)
 
- Static Protected Member Functions inherited from SceneNode
static long getCPtr (SceneNode obj)
 
- Static Protected Member Functions inherited from GfxObject
static long getCPtr (GfxObject obj)
 

Detailed Description


RobotArm

Member Function Documentation

Uint32List RobotArm.SelfCollisionTest ( )

Self collision testing

Returns
the link id pair.
boolean RobotArm.SetVariable ( long  idx,
double  v 
)

Update the value of the joint by index

Parameters
idxthe index of the joint
vthe new value.
Returns
false if failed to update the value.