model_gripper.c File Reference
#include <sys/time.h>
#include <math.h>
#include "gui.h"
#include "stage_internal.h"
Defines | |
#define | STG_DEFAULT_GRIPPER_SIZEX 0.12 |
#define | STG_DEFAULT_GRIPPER_SIZEY 0.28 |
#define | STG_GRIPPER_WATTS 1.0 |
Functions | |
int | gripper_break_beam (stg_model_t *mod, stg_gripper_config_t *cfg, int beam) |
void | gripper_generate_paddles (stg_model_t *mod, stg_gripper_config_t *cfg) |
int | gripper_init (stg_model_t *mod) |
void | gripper_load (stg_model_t *mod) |
int | gripper_paddle_contact (stg_model_t *mod, stg_gripper_config_t *cfg, double contacts[2]) |
int | gripper_raytrace_match (stg_model_t *mod, stg_model_t *hitmod) |
int | gripper_render_cfg (stg_model_t *mod, void *userp) |
int | gripper_render_data (stg_model_t *mod, void *userp) |
int | gripper_shutdown (stg_model_t *mod) |
int | gripper_startup (stg_model_t *mod) |
int | gripper_unrender_cfg (stg_model_t *mod, void *userp) |
int | gripper_unrender_data (stg_model_t *mod, void *userp) |
int | gripper_update (stg_model_t *mod) |
void | stg_print_gripper_config (stg_gripper_config_t *cfg) |
Define Documentation
#define STG_DEFAULT_GRIPPER_SIZEX 0.12 |
Referenced by gripper_init().
#define STG_DEFAULT_GRIPPER_SIZEY 0.28 |
Referenced by gripper_init().
#define STG_GRIPPER_WATTS 1.0 |
Referenced by gripper_startup().
Function Documentation
int gripper_break_beam | ( | stg_model_t * | mod, | |
stg_gripper_config_t * | cfg, | |||
int | beam | |||
) |
References stg_pose_t::a, gripper_raytrace_match(), stg_gripper_config_t::inner_break_beam_inset, itl_create(), itl_destroy(), itl_first_matching(), M_PI, stg_gripper_config_t::outer_break_beam_inset, stg_gripper_config_t::paddle_position, stg_gripper_config_t::paddle_size, PointToBearingRange, stg_geom_t::size, stg_model_get_geom(), stg_model_local_to_global(), stg_size_t::x, stg_pose_t::x, stg_size_t::y, and stg_pose_t::y.
Referenced by gripper_update().
void gripper_generate_paddles | ( | stg_model_t * | mod, | |
stg_gripper_config_t * | cfg | |||
) |
References model_change(), stg_gripper_config_t::paddle_position, stg_gripper_config_t::paddle_size, stg_polygon_set_points(), stg_polygons_normalize(), stg_size_t::x, stg_point_t::x, stg_size_t::y, and stg_point_t::y.
Referenced by gripper_init(), and gripper_update().
int gripper_init | ( | stg_model_t * | mod | ) |
References stg_pose_t::a, stg_gripper_cmd_t::arg, stg_gripper_config_t::close_limit, stg_gripper_cmd_t::cmd, FALSE, gripper_generate_paddles(), gripper_load(), gripper_render_data(), gripper_shutdown(), gripper_startup(), gripper_unrender_data(), gripper_update(), stg_gripper_config_t::inner_break_beam_inset, stg_gripper_config_t::lift, stg_gripper_config_t::outer_break_beam_inset, stg_gripper_config_t::paddle_size, stg_gripper_config_t::paddles, stg_gripper_config_t::paddles_stalled, stg_geom_t::pose, stg_geom_t::size, STG_DEFAULT_GRIPPER_SIZEX, STG_DEFAULT_GRIPPER_SIZEY, STG_GRIPPER_CMD_NOP, STG_GRIPPER_COLOR, STG_GRIPPER_LIFT_DOWN, STG_GRIPPER_PADDLE_OPEN, stg_lookup_color(), stg_model_add_property_toggles(), stg_model_set_cfg(), stg_model_set_cmd(), stg_model_set_data(), stg_model_set_geom(), stg_model_set_gripper_return(), stg_model_set_polygons(), stg_polygons_create(), TRUE, stg_size_t::x, stg_pose_t::x, stg_size_t::y, and stg_pose_t::y.
void gripper_load | ( | stg_model_t * | mod | ) |
Referenced by gripper_init().
int gripper_paddle_contact | ( | stg_model_t * | mod, | |
stg_gripper_config_t * | cfg, | |||
double | contacts[2] | |||
) |
References stg_pose_t::a, stg_gripper_config_t::close_limit, FALSE, stg_gripper_config_t::grip_stack, gripper_raytrace_match(), itl_create(), itl_destroy(), itl_first_matching(), stg_gripper_config_t::paddle_position, stg_gripper_config_t::paddle_size, stg_gripper_config_t::paddles, stg_gripper_config_t::paddles_stalled, PointToBearingRange, stg_geom_t::size, STG_GRIPPER_PADDLE_CLOSING, stg_model_get_geom(), stg_model_global_to_local(), stg_model_local_to_global(), stg_model_set_parent(), stg_model_set_pose(), stg_size_t::x, stg_pose_t::x, stg_size_t::y, and stg_pose_t::y.
Referenced by gripper_update().
int gripper_raytrace_match | ( | stg_model_t * | mod, | |
stg_model_t * | hitmod | |||
) |
Referenced by gripper_break_beam(), and gripper_paddle_contact().
int gripper_render_cfg | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
References stg_gripper_config_t::inner_break_beam_inset, stg_gripper_config_t::outer_break_beam_inset, stg_gripper_config_t::paddle_position, stg_gripper_config_t::paddle_size, stg_geom_t::size, STG_GRIPPER_CFG_COLOR, STG_LAYER_GRIPPERCONFIG, stg_lookup_color(), stg_model_fig_create(), stg_model_get_fig(), stg_model_get_geom(), stg_rtk_fig_clear(), stg_rtk_fig_color_rgb32(), stg_rtk_fig_rectangle(), stg_size_t::x, and stg_size_t::y.
int gripper_render_data | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
References stg_gripper_data_t::inner_break_beam, stg_gripper_config_t::inner_break_beam_inset, stg_gripper_data_t::outer_break_beam, stg_gripper_config_t::outer_break_beam_inset, stg_gripper_data_t::paddle_contacts, stg_gripper_config_t::paddle_position, stg_gripper_data_t::paddle_position, stg_gripper_config_t::paddle_size, stg_geom_t::size, STG_LAYER_GRIPPERDATA, stg_model_fig_create(), stg_model_get_fig(), stg_rtk_fig_clear(), stg_rtk_fig_color_rgb32(), stg_rtk_fig_line(), stg_rtk_fig_rectangle(), stg_size_t::x, and stg_size_t::y.
Referenced by gripper_init().
int gripper_shutdown | ( | stg_model_t * | mod | ) |
References PRINT_DEBUG, stg_model_fig_clear(), and stg_model_set_watts().
Referenced by gripper_init().
int gripper_startup | ( | stg_model_t * | mod | ) |
int gripper_unrender_cfg | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
References stg_model_fig_clear().
int gripper_unrender_data | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
int gripper_update | ( | stg_model_t * | mod | ) |
References _model_update(), stg_gripper_config_t::close_limit, stg_gripper_cmd_t::cmd, stg_gripper_config_t::grip_stack, gripper_break_beam(), gripper_generate_paddles(), gripper_paddle_contact(), stg_gripper_data_t::inner_break_beam, stg_gripper_data_t::lift, stg_gripper_config_t::lift, stg_gripper_data_t::lift_position, stg_gripper_config_t::lift_position, stg_gripper_data_t::outer_break_beam, stg_gripper_data_t::paddle_contacts, stg_gripper_data_t::paddle_position, stg_gripper_config_t::paddle_position, stg_gripper_data_t::paddles, stg_gripper_config_t::paddles, stg_gripper_data_t::paddles_stalled, stg_gripper_config_t::paddles_stalled, stg_geom_t::pose, stg_gripper_data_t::stack_count, STG_GRIPPER_CMD_CLOSE, STG_GRIPPER_CMD_DOWN, STG_GRIPPER_CMD_OPEN, STG_GRIPPER_CMD_UP, STG_GRIPPER_LIFT_DOWN, STG_GRIPPER_LIFT_DOWNING, STG_GRIPPER_LIFT_UP, STG_GRIPPER_LIFT_UPPING, STG_GRIPPER_PADDLE_CLOSED, STG_GRIPPER_PADDLE_CLOSING, STG_GRIPPER_PADDLE_OPEN, STG_GRIPPER_PADDLE_OPENING, stg_model_get_geom(), stg_model_get_global_pose(), stg_model_local_to_global(), stg_model_set_cfg(), stg_model_set_data(), stg_model_set_global_pose(), and stg_model_set_parent().
Referenced by gripper_init().
Generated on Wed Jun 3 23:12:29 2009 for Stage by
