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CATKinMechanismUseItf Interface CATIKinematicsMechanism

Usage: an implementation of this interface is supplied and you must use it as is. You should not reimplement it.

interface CATIKinematicsMechanism

Interface which identifies a kinematic mechanism Role: A mechanism manipulates engineering connections and kinematics Commands .
The state of the mechanism is represented by the values of its commands. The methods provided by this interface allow to access this information and perfom a kinematics simulation

Method Index

o CleanSimulation(): Cleans the simulation environment.
o GetDOFStatus(int&,int&,CATBoolean&): Returns the DOF and the status of a mechanism.
o GetEngineeringConnectionsList(CATListValCATBaseUnknown_var&): Returns the list of the engineering connections of the mechanism.
o GetFatherProduct(CATIPLMProducts_var&): Returns the father product containing the mechanism.
o GetImpactedProductsList(CATListValCATBaseUnknown_var&): Returns the list of the products involved in the mechanism.
o GetKinCommandsList(CATListValCATBaseUnknown_var&): Returns the list of the kinematics commands of the mechanism.
o PrepareSimulation(): Initializes the kinematics solver environment, preparing it for a kinematics simulation.
o RunSimulation(CATListOfDouble&,CATListValCATBaseUnknown_var&,CATListPtrCATMathTransformation&,CATKinematicsSimulationStatus&): Runs a kinematics simulation on a mechanism which can be simulated.

Methods

o CleanSimulation

public virtual CleanSimulation(

)

Cleans the simulation environment.It should be called after the last RunSimulation call.

o GetDOFStatus

public virtual GetDOFStatus(		`oDOFWithoutCmd`,
		`oDOFWithCmd`,
		`oSimulationReady`)

Returns the DOF and the status of a mechanism.

Parameters:

oDOFWithoutCmd: The degree of freedom without kinematics commands
oDOFWithCmd: The degree of freedom with kinematics commands
oSimulationReady: returns whether a mecahanism can be simulated or not.

o GetEngineeringConnectionsList

public virtual GetEngineeringConnectionsList( oConnectionsList)

Returns the list of the engineering connections of the mechanism.An engineering connection defines a kinematics joint and adheres to the CATIEngConnection public interface.

Parameters:

oConnectionsList: This method gives the list of all the engineering connections which are involved in the mechanism.

See also:

o GetFatherProduct

public virtual GetFatherProduct( oProduct)

Returns the father product containing the mechanism.

Parameters:

oProduct: The father product in which the mecanisme has been created.

o GetImpactedProductsList

public virtual GetImpactedProductsList( oProductsList)

Returns the list of the products involved in the mechanism.

Parameters:

oProductsList: The list of products.

See also:

o GetKinCommandsList

public virtual GetKinCommandsList( oCmdlist)

Returns the list of the kinematics commands of the mechanism.

Parameters:

oCmdList: The list of commands.

See also:

o PrepareSimulation

public virtual PrepareSimulation(

)

Initializes the kinematics solver environment, preparing it for a kinematics simulation. The regular way to use is only the following one:

Example:

 A_mechanism->PrepareSimulation(..);
 
Make several A_mechanism ->RunSimulation (..);
 
A_Mechanism->CleanSimulation(..);

o RunSimulation

public virtual RunSimulation(	const	`iListOfCmdValues`,
		`oListOfMovingProduct`,
		`oListOfNewPositions`,
		`oRunStatus`)

Runs a kinematics simulation on a mechanism which can be simulated. A call of PrepareSimulation must be done before using this method.

Parameters:

iListOfCmdValues: This list contains the list of the command values to be reached during a kinematics simulation. The number and the order of this list should match with the number and the order of the command list given by GetCommandList() method.
Regarding the units for the command values, an angle is measured with degrees whereas a distance is measured with millimeters.
oListOfNewPositions: This list contains the new position for each product listed in the previous list. The position is the absolute position of the product.
After using this list of CATMathTransformation pointers, each pointer must be deleted, in order to avoid any memory leak.

Example:

     A_mechanism ->RunSimulation (..,ListOfNewPositions,);
  
 loop for each pointer of ListOfNewPositions
  
    if (ptrNewPos) delete ptrNewPos; iptrNewPos = NULL;

oRunStatus

The simulation status.

See also:

This object is included in the file: CATIKinematicsMechanism.h
If needed, your Imakefile.mk should include the module: CATKinMechanismUseItf