void BallJoint::addToLists(std::vector<Sensorport*>& sensorportList,
std::vector<Actuatorport*>& actuatorportList,
std::vector<Actuator*>& actuatorList)
{
if(this->motors.size() > 0)
{
std::string actuatorDescription;
std::string sensorDescription;
Motor* motor = motors.front();
std::vector<MotorAxisDescription>::const_iterator pos;
for(int i = 0; i < motor->getNumberOfParsedAxes(); i++)
{
MotorAxisDescription* axis = motor->getAxis(i);
actuatorDescription = "motorAxis" + i;
actuatorDescription += "Actuator";
sensorDescription = "motorAxis" + i;
sensorDescription += "Sensor";
Actuatorport* value = new Actuatorport
(actuatorDescription, this, i, axis->minValue, axis->maxValue);
actuatorportList.push_back(value);
Sensorport* valueSensor = new Sensorport
(sensorDescription, i, doubleSensor, this, axis->minValue, axis->maxValue);
sensorportList.push_back(valueSensor);
actuatorList.push_back(this);
}
}
}
void BallJoint::addToDescriptions(std::vector<ObjectDescription>& objectDescriptionTree,
int depth)
{
if(this->motors.size() > 0)
{
SimSensor::addToDescriptions(objectDescriptionTree, depth);
ObjectDescription valueDesc;
std::string actuatorDescription;
std::string sensorDescription;
Motor* motor = motors.front();
std::vector<MotorAxisDescription>::const_iterator pos;
for(int i = 0; i < motor->getNumberOfParsedAxes(); i++)
{
motor->getAxis(i);
actuatorDescription = "motorAxis" + i;
actuatorDescription += "Actuator";
sensorDescription = "motorAxis" + i;
sensorDescription += "Sensor";
//Add Actuatorport:
valueDesc.name = actuatorDescription;
valueDesc.fullName = fullName + "." + actuatorDescription;
valueDesc.depth = depth + 1;
valueDesc.type = OBJECT_TYPE_ACTUATORPORT;
objectDescriptionTree.push_back(valueDesc);
//Add Sensorport:
valueDesc.name = sensorDescription;
valueDesc.fullName = fullName + "." + sensorDescription;
valueDesc.depth = depth + 1;
valueDesc.type = OBJECT_TYPE_SENSORPORT;
objectDescriptionTree.push_back(valueDesc);
}
}
}
