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Robot

The value of some parameters of the current robot can be modified after its description.

The function int p3d_set_robot_box(double x1, double x2, double y1, double y2, double z1, double z2, double t1, double t2)   set the values of the box of the current robot, i.e. the bounds of the degrees of freedom of the first joint j0, tex2html_wrap_inline1048 . This function is usually used to complete the description of a scene. The function void p3d_set_robot_radius(double radius)   sets the value of the radius of the turning circle of the current robot. The function void p3d_set_ROBOT_GOTO(double *q)   set the value of the goal configuration of the current robot.

Some general informations about the robot can also be get.

The function double p3d_get_robot_radius(void)   gets the radius of the turning circle of the current robot. The function void p3d_get_robot_box(double *x1, double *x2, double *y1, double *y2,double *z1,double *z2,double *t1,double *t2)   returns the values of the box of the current robot.

The function void p3d_get_BB_rob(p3d_rob *r,double *x1,double *x2,double *y1,double *y2,double *z1,double *z2)   returns the bounding box of the robot r.

The function void p3d_robot_info(void)   prints informations about the current obstacle : name, number, id, number of bodies, number of joints, bounding box, position, bodies, polyhedrons,...



Nicola Simeon
Fri Oct 27 09:07:38 MET DST 2000