Extended Inventor node type (derived from SoSeparator) to define robot nodes in the scene file.

Inheritance:

Public Fields

SoSFEnum	robotType see mpk_robot_type.h
SoSFVec3f	translation
SoSFVec4f	rotation
SoSFFloat	scaleFactor
SoSFString	fileName
SoSFString	fileName2
mpkBaseRobot*	robot Pointer to robot instantiated by init().

Public Methods

	mpkRobot ()
void	init () Reads the link models and builds the kinematic structure of the robot according to the value in robotType. After calling init(), the pointer robot points to the instantiated robot.)

Documentation

mpkRobots are found in the scene graph using an Inventor search action that looks for nodes of type mpkRobot (see mpkRobotCollection). Each robot can be given an individual name. The following shows how to defined a robot in a scene file:

DEF <name> mpkRobot {
robotType <type>
translation <x> <y> <z>
rotation <ax_x> <ax_y> <ax_z> <angle>
scaleFactor <fact>
}

where <type> is one of the constants defined in file mpk_robot_type.h

SoSFVec3f translation

SoSFVec4f rotation

SoSFFloat scaleFactor

SoSFString fileName

SoSFString fileName2

mpkRobot()

This class has no child classes.

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