Hello everyone !
yes, I think
As far as I’m concerned, I would like to write a function that returns which visual_node/node belongs to which link and the join of the link. I am using ColladaDom. I tried but it didn’t manage.
For example :
I have this visual scene
<visual_scene id="VISUAL_SCENE">
<node id="GREIFER">
<node id="OBERARM">
<node id="UNTERARM">
<node id="SCHWENKER1">
<node id="SCHWENKER2">
</node>
these links :
<link name="link1">
<attachment_full joint="KIN_GREIFER/j1">
<translate>525 0 0</translate>
<link name="link2">
<attachment_full joint="KIN_GREIFER/j2">
<translate>525 0 0</translate>
<link/>
</attachment_full>
<attachment_full joint="KIN_GREIFER/j3">
<translate>525 0 0</translate>
<rotate>1 0 0 180</rotate>
<link/>
</attachment_full>
</link>
</attachment_full>
</link>
and this
<instance_kinematics_scene url="#KIN_SCENE">
<bind_kinematics_model node="OBERARM">
<bind_joint_axis target="UNTERARM/j1_axis">
<bind_joint_axis target="SCHWENKER1/j1_axis">
<bind_joint_axis target="SCHWENKER1/j2_axis">
<bind_joint_axis target="SCHWENKER2/j1_axis">
<bind_joint_axis target="SCHWENKER2/j3_axis">
</instance_kinematics_scene>
If I give the parameter UNTERARM to the function, it returns <link name=“link1”> or <attachment_full joint=“KIN_GREIFER/j1”>
If I give the parameter SCHWENKER1 to the function, it returns <link name=“link2”> or <attachment_full joint=“KIN_GREIFER/j2”>
If I give the parameter SCHWENKER2 to the function, it returns <link name=“link2”> or <attachment_full joint=“KIN_GREIFER/j3”>
I know that :[ul]
[li]with <bind_joint_axis target=“UNTERARM/j1_axis”> I can reach the element <node id=“UNTERARM”> (Using daeSidRef(bind_joint->getTarget(), visual_instance_scene->getUrl().getElement()).resolve().elt))[/
2k0da5qi][/li][li]with <param>param.j1.axis</param>, I can reach the element <newparam sid=“param.j1.axis”> in the <instance_kinematics_model url="#KIN_GREIFER" sid=“inst_kin_greifer”>[/2k0da5qi][/ul][/li]
How can I code this function ? Thanks for help ! 