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CjrlRobotDynamicsObjectFactory Class Referenceabstract

The creation of an object. More...

#include <abstract-robot-dynamics/robot-dynamics-object-constructor.hh>

Public Member Functions

virtual ~CjrlRobotDynamicsObjectFactory ()
 Destructor.
 
virtual CjrlDynamicRobotcreateDynamicRobot ()=0
 Construct and return a pointer to a dynamic robot.
 
virtual CjrlHumanoidDynamicRobotcreateHumanoidDynamicRobot ()=0
 Construct and return a pointer to a humanoid dynamic robot.
 
virtual CjrlJointcreateJointFreeflyer (const matrix4d &inInitialPosition)=0
 Construct and return a pointer to a freeflyer joint.
 
virtual CjrlJointcreateJointRotation (const matrix4d &inInitialPosition)=0
 Construct and return a pointer to a rotation joint.
 
virtual CjrlJointcreateJointTranslation (const matrix4d &inInitialPosition)=0
 Construct and return a pointer to a translation joint.
 
virtual CjrlBodycreateBody ()=0
 Construct and return a pointer to a body.
 
virtual CjrlHandcreateHand (CjrlJoint *inWristJoint)=0
 Construct and return a pointer to a hand.
 
virtual CjrlFootcreateFoot (CjrlJoint *inAnkle)=0
 Construct and return a pointer to a foot.
 

Detailed Description

The creation of an object.

Constructor & Destructor Documentation

◆ ~CjrlRobotDynamicsObjectFactory()

virtual CjrlRobotDynamicsObjectFactory::~CjrlRobotDynamicsObjectFactory ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ createBody()

virtual CjrlBody * CjrlRobotDynamicsObjectFactory::createBody ( )
pure virtual

Construct and return a pointer to a body.

◆ createDynamicRobot()

virtual CjrlDynamicRobot * CjrlRobotDynamicsObjectFactory::createDynamicRobot ( )
pure virtual

Construct and return a pointer to a dynamic robot.

◆ createFoot()

virtual CjrlFoot * CjrlRobotDynamicsObjectFactory::createFoot ( CjrlJoint * inAnkle)
pure virtual

Construct and return a pointer to a foot.

Parameters
inAnkleThe joint the foot is attached to.

◆ createHand()

virtual CjrlHand * CjrlRobotDynamicsObjectFactory::createHand ( CjrlJoint * inWristJoint)
pure virtual

Construct and return a pointer to a hand.

Parameters
inWristJointThe joint the hand is attached to.

◆ createHumanoidDynamicRobot()

virtual CjrlHumanoidDynamicRobot * CjrlRobotDynamicsObjectFactory::createHumanoidDynamicRobot ( )
pure virtual

Construct and return a pointer to a humanoid dynamic robot.

◆ createJointFreeflyer()

virtual CjrlJoint * CjrlRobotDynamicsObjectFactory::createJointFreeflyer ( const matrix4d & inInitialPosition)
pure virtual

Construct and return a pointer to a freeflyer joint.

Parameters
inInitialPositionposition of the local frame of the joint when the robot is in initial configuration.

◆ createJointRotation()

virtual CjrlJoint * CjrlRobotDynamicsObjectFactory::createJointRotation ( const matrix4d & inInitialPosition)
pure virtual

Construct and return a pointer to a rotation joint.

Parameters
inInitialPositionposition of the local frame of the joint when the robot is in initial configuration.

◆ createJointTranslation()

virtual CjrlJoint * CjrlRobotDynamicsObjectFactory::createJointTranslation ( const matrix4d & inInitialPosition)
pure virtual

Construct and return a pointer to a translation joint.

Parameters
inInitialPositionposition of the local frame of the joint when the robot is in initial configuration.