ArmBuilder Class Reference

Script on the main manipulator to build the robot arm and remove it More...

Inheritance diagram for ArmBuilder:

Public Types
enum	ModuleType
	Each module has a type. Outside of the Invalid type, there are 4 types: More...

Public Member Functions
ModuleType	TypeOfLink (LinkSpec link)
	Converts the XML-parsed LinkSpec to ModuleType
bool	BuildAgent (string urdf)
	Build a robot arm. Should only be called once, in the beginning, because the manipulatorAgent would be instantiated twice. Saves the RobotSpec specification after parsing so the robot can be rebuild (see RebuildAgent) More...
void	DestroyAgent ()
	Removes the current robot arm
bool	RebuildAgent ()
	Removes the current robot arm and rebuilds it. More...
int	GetJointAmount ()
	Returns the amount of joints the currently built robot arm has (zero if no arm built) More...

Public Attributes
GameObject	moduleBodyPrefab
	Prefab instantiated by Unity
GameObject	rotatingModuleBodyPrefab
	Prefab instantiated by Unity
GameObject	moduleConnectorPrefab
	Prefab instantiated by Unity
GameObject	tiltingModuleConnectorPrefab
	Prefab instantiated by Unity
GameObject	manipulatorAgentPrefab
	Prefab instantiated by Unity
GameObject	anchor
	The anchor GameObject, instantiated by Unity

Properties
GameObject	EndEffector [get]

Detailed Description

Script on the main manipulator to build the robot arm and remove it

Member Enumeration Documentation

ModuleType

enum ArmBuilder.ModuleType

Each module has a type. Outside of the Invalid type, there are 4 types:

Anchor: Special case for the lowest module. Has 0 or 1 joints.

Tilting: Module that has 1 joint at the base that can 'tilt' the robot.

Rotating: Module that has 1 joint in the middle, rotating along the axis of the module.

Complex: Module that has 2 joints: a tilting and a rotating one.

Member Function Documentation

BuildAgent()

bool ArmBuilder.BuildAgent ( string  urdf )

inline

Build a robot arm. Should only be called once, in the beginning, because the manipulatorAgent would be instantiated twice. Saves the RobotSpec specification after parsing so the robot can be rebuild (see RebuildAgent)

Parameters

urdf	The robot specfication in URDF format, to be parsed by using XmlSerializer with the RobotSpec specification

Returns

Whether the parsing and building was successful

GetJointAmount()

int ArmBuilder.GetJointAmount ( )

inline

Returns the amount of joints the currently built robot arm has (zero if no arm built)

Returns

The amount of joints

RebuildAgent()

bool ArmBuilder.RebuildAgent ( )

inline

Removes the current robot arm and rebuilds it.

Returns

Whether the rebuilding was successful

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

• unity/Assets/Scripts/ArmBuilder.cs