GLBarrettFinger Class Reference
[Module to draw a BarrettHand in OpenGL]

Class for drawing a finger of a BarrettHand in OpenGL context. More...

#include <glbarrettfinger.h>

Inheritance diagram for GLBarrettFinger:

[legend]Collaboration diagram for GLBarrettFinger:

[legend]

Public Member Functions
void	draw ()
	Draws object polygon modell in OpenGL:.
void	draw (GLenum mode=GL_RENDER)
float	getJoint (const int joint) const
	GLBarrettFinger ()
void	initModell ()
	Initializes the modell.
void	makeParts ()
void	setForce (const double force)
void	setJoint (const int joint, const float angle)
void	setJoint0 (const float angle)
void	setJoint1 (const float angle)
void	setJoints (const float j0, const float j1)
virtual	~GLBarrettFinger ()
Protected Attributes
GLfloat	Joint0Angle
GLfloat	Joint1Angle
GLBarrettL1	Part0
GLBarrettJ1	Part1
GLBarrettL2	Part2
GLBarrettL3	Part3

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Detailed Description

Class for drawing a finger of a BarrettHand in OpenGL context.

This class can be used to draw a finger of a BarrettHand in OpenGl Context. A GLBarrettFinger must not be used to generate a display list. Otherwise the finger will alwys look the same if you manipulate the joint anlges or force values.

Todo:

add max- min- force visualisation possibilities

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Constructor & Destructor Documentation

GLBarrettFinger::GLBarrettFinger

(

)

Default constructor

GLBarrettFinger::~GLBarrettFinger

(

)

[virtual]

Default destructor

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Member Function Documentation

void GLBarrettFinger::draw

(

)

[inline, virtual]

Draws object polygon modell in OpenGL:.

This mthod must be implemented to draw draw the modell.

Implements GLBarrettPrimitive.

void GLBarrettFinger::draw

(

GLenum

mode = GL_RENDER

)

Draws a finger of the BarrettHand with OpenGL commands

float GLBarrettFinger::getJoint

(

const int

joint

)

const [inline]

Returns joint angle desired joint

Parameters:

joint

Number of joint of which the angle should be returned. 0 for first joint, 1 for second joint

Returns:

Joint value for requested joint.

void GLBarrettFinger::initModell

(

)

Initializes the modell.

This Method must be called before a draw command, otherwise you will see anything. I.e. creates the displaylists.

void GLBarrettFinger::makeParts

(

)

Generates the display lists for each part of the finger.

void GLBarrettFinger::setForce

(

const double

force

)

[inline]

Sets Force value for finger which is diplayed on the fingertip.

void GLBarrettFinger::setJoint	(	const int	joint,
		const float	angle
	)			[inline]

Sets joint angle for desigred joint

Parameters:

	joint	Number of joint
	angle	Angle for joint

void GLBarrettFinger::setJoint0

(

const float

angle

)

[inline]

Sets Joint Angle for joint 0

Parameters:

angle

Angle for joint 0 (Unit deg)

void GLBarrettFinger::setJoint1

(

const float

angle

)

[inline]

Sets Joint Angle for joint 1

Parameters:

angle

Angle for joint 1 (Unit deg)

void GLBarrettFinger::setJoints	(	const float	j0,
		const float	j1
	)			[inline]

Sets the joints of the finger to the given values.

Parameters:

	j0	Joint Value for joint 0 of finger.
	j1	Joint Value for joint 1 of finger.

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Field Documentation

GLfloat GLBarrettFinger::Joint0Angle [protected]

Variable for Angle of joint 0

GLfloat GLBarrettFinger::Joint1Angle [protected]

Variable for Angle of joint 1

GLBarrettL1 GLBarrettFinger::Part0 [protected]

First part of Finger

GLBarrettJ1 GLBarrettFinger::Part1 [protected]

Second part of Finger

GLBarrettL2 GLBarrettFinger::Part2 [protected]

Third part of Finger

GLBarrettL3 GLBarrettFinger::Part3 [protected]

Fourth part of Finger

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The documentation for this class was generated from the following files:

• glbarrettfinger.h
• glbarrettfinger.cc

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 15:01:00 2006 by 1.4.7