Wrist Class Reference

Detailed Description

The anchorage is described by PointExact sBase:

• the Mecable is sBase.object()
• the index of the model-point on this Mecable is sBase.index()

Inheritance diagram for Wrist:

Public Member Functions
	Wrist (SingleProp const *, PointExact const &)
	constructor
	~Wrist ()
	destructor
Vector	position () const
	return the position in space of the object
bool	translatable () const
	true if object accepts translations
void	translate (Vector const &T)
	translate object's position by the given vector
void	foldPosition (const Modulo *s)
	modulo the position of the grafted
Mecable const *	foot () const
	Object to which this is attached.
Vector	posFoot () const
	the position of what is holding the Hand
Vector	force () const
	force = stiffness * ( posFoot() - posHand() )
void	stepFree (const FiberGrid &)
	Monte-Carlo step for a free Single.
void	stepAttached ()
	Monte-Carlo step for a bound Single.
bool	hasInteraction () const
	true if Single creates an interaction
void	setInteractions (Meca &) const
	add interactions to the Meca
Tag	tag () const
	return unique character identifying the class
void	read (InputWrapper &, Simul &)
	read from file
void	write (OutputWrapper &) const
	write to file
Public Member Functions inherited from Single
	Single (SingleProp const *, Vector const &=Vector(0, 0, 0))
	constructor at specified position
virtual	~Single ()
	destructor
Hand *	hand ()
	a reference to the Hand
Vector	posHand () const
	position of the Hand
bool	attached () const
	sHand->attached()
void	attach (FiberBinder &fb)
	attach the hand at the given position
void	attachTo (Fiber *f, real ab, FiberEnd from)
	attach the hand at the given position
void	attachToEnd (Fiber *f, FiberEnd end)
	attach Hand at the given end
void	detach ()
	detach
Fiber *	fiber ()
	Fiber to which this is attached.
Vector	dirFiber () const
	direction of Fiber at attachment point
virtual void	setPosition (Vector const &w)
	move object to specified position
virtual Vector	posSide () const
	position on the side of fiber used for sideInteractions
Single *	next () const
	a static_cast<> of Node::next()
Single *	prev () const
	a static_cast<> of Node::prev()
const Property *	property () const
	return Object Property
Public Member Functions inherited from Object
	Object ()
	constructor
std::string	reference () const
	concatenation of [ tag(), property()->index(), number() ] in plain ascii More...
void	writeReference (OutputWrapper &) const
	write a reference that identifies the Object uniquely More...
void	writeReference (OutputWrapper &, Tag tag) const
	write a reference, but using the provided Tag More...
int	mark () const
	birth mark value
void	mark (int m)
	set birth mark
int	fleck () const
	fleck value (not stored in trajectory files)
void	fleck (int f) const
	set fleck (the value is not stored in trajectory files)
Object *	next () const
	extends Node::next(), with a cast to preserve type
Object *	prev () const
	extends Node::prev(), with a cast to preserve type
Public Member Functions inherited from Node
	Node ()
	constructor set as unlinked
virtual	~Node ()
	destructor More...
bool	linked () const
	true if Node is linked
Node *	next () const
	the next Node in the list, or zero if this is last
Node *	prev () const
	the previous Node in the list, or zero if this is first
NodeList *	list () const
	the list where the object is linked, or zero
ObjectSet *	objset () const
	return associated ObjectSet
Public Member Functions inherited from Inventoried
	Inventoried ()
	initialize (name=0)
	~Inventoried ()
	destructor
void	number (Number n)
	change the serial number
Number	number () const
	serial number : a integer identifier, unique within each class
Public Member Functions inherited from Movable
	Movable ()
	constructor
virtual	~Movable ()
	destructor
virtual bool	rotatable () const
	true if object accepts rotations (default=false)
virtual void	rotate (Rotation const &)
	rotate the object around the origin of coordinates More...
virtual void	rotateP (Rotation const &)
	rotate the object around its current position More...
Public Member Functions inherited from HandMonitor
virtual bool	allowAttachment (const FiberBinder &site)
	called just before attachement. Returning false prevents the attachment
virtual Hand *	otherHand (Hand *) const
	return the Hand that is not the argument, in a Couple
virtual Vector	otherDirection (Hand *) const
	return the direction of the Fiber for the Hand that is not the argument, in a Couple More...

Static Public Attributes
static const Tag	TAG = 'w'
Static Public Attributes inherited from Single
static const Tag	TAG = 's'
	a unique character identifying the class
Static Public Attributes inherited from Object
static const Tag	TAG = 'v'
	Object::TAG = 'v' represents the 'void' pointer.

Protected Attributes
PointExact	sBase
	describes the anchorage: Mecable and index of model-point
Protected Attributes inherited from Single
Hand *	sHand
	the motor domain
Vector	sPos
	the position of the foot
Protected Attributes inherited from Node
Node *	nNext
	the next Node in the list
Node *	nPrev
	the previous Node in the list
Protected Attributes inherited from Inventoried
Number	nNumber
	object identifier, unique within the class defined by tag()

Additional Inherited Members
Static Public Member Functions inherited from Object
static std::string	strReference (char, int, Number, int)
	build a string reference by concatenating (tag, property_index, number, mark) More...
static void	readReference (InputWrapper &, int &, Number &, int &, char pretag)
	read a reference (property_index, number, mark) from input More...
static void	writeNullReference (OutputWrapper &)
	write a reference that does not refer to any Object
Static Public Member Functions inherited from Movable
static Vector	readPrimitive (std::istream &, const Space *)
	read a position specified with primitives, such as 'circle 5', etc. More...
static Vector	readPosition (std::istream &, const Space *)
	read a position in space More...
static Vector	readDirection (std::istream &, const Vector &, const Space *)
	read an orientation, and return a normalized vector More...
static Rotation	readRotation (std::istream &, const Vector &, const Space *)
	read a rotation specified in is, at position pos More...
Public Attributes inherited from Single
SingleProp const *	prop
	property