A C D G H I L M N O P R S T U V

A

addObject3D(Object3D) - Method in class ArmDisplay
purpose : add a new Object3D into the scene
addObject3D(Object3D) - Method in class Pic3DCanvas
purpose : add a new Object3D into the scene
ArmController - class ArmController.
A class to communicate and control the real robot arm
ArmController() - Constructor for class ArmController
Default constructor purpose : initialize the controller
ArmDisplay - class ArmDisplay.
A class to display the scene of the robot arm on a window
ArmDisplay() - Constructor for class ArmDisplay
Default constructor purpose : initialize the output window and set its size to 300x300
ArmDisplay(int, int) - Constructor for class ArmDisplay
Constructor purpose : initialize the output window
ArmDisplay(String, int, int) - Constructor for class ArmDisplay
Constructor purpose : initialize the output window
ArmSimulator - class ArmSimulator.
A class to simulate the action of the robot arm
ArmSimulator() - Constructor for class ArmSimulator
Default constructor purpose : initialize the simulator
Armtty - class Armtty.
A class to provide communication facilities to the real robot arm
Armtty() - Constructor for class Armtty
Default constructor purpose : initialize the Armtty object

C

c - Variable in class Polygon3D
Vector3D[] c
purpose : store the vertices of the polygon
changeA(int, double) - Method in class DHSystem
purpose : change the relative distance a of a frame
changeAlpha(int, double) - Method in class DHSystem
purpose : change the relative angle alpha of a frame
changeCTM(int, Matrix) - Method in class ArmDisplay
purpose : change the current transformational matrix of an object
changeCTM(int, Matrix) - Method in class Pic3DCanvas
purpose : change the current transformational matrix of an object
changeD(int, double) - Method in class DHSystem
purpose : change the relative distance d of a frame
changeTheta(int, double) - Method in class DHSystem
purpose : change the relative angle theta of a frame
connect() - Method in class ArmController
purpose : establish the connection to the arm
connect() - Method in class Armtty
purpose : open the serial port to communicate with the robot arm
count - Variable in class Object3D
int count
purpose : total number of polygons in the object
count - Variable in class Polygon3D
int count
purpose : total number of vertices in the polygon
CreateInput - class CreateInput.
 
CreateInput() - Constructor for class CreateInput
 
cross(Vector3D, Vector3D) - Static method in class Vector3D
purpose : cross product
CRSPlusA150 - class CRSPlusA150.
A class to represent the CRSPlus A150 robot arm system
CRSPlusA150() - Constructor for class CRSPlusA150
Default constructor purpose : initialize the robot arm system includes the gripper

D

degToRad(double) - Static method in class CRSPlusA150
purppose : convert angle from degree into radian
DemoController - class DemoController.
 
DemoController() - Constructor for class DemoController
 
DemoSimulator - class DemoSimulator.
 
DemoSimulator() - Constructor for class DemoSimulator
 
DHSystem - class DHSystem.
A class to represent a block model in DH coordinate system
DHSystem(int) - Constructor for class DHSystem
Constructor purpose : initialize a DHSystem with number of parts
disconnect() - Method in class ArmController
purpose : close the connection to the arm
disconnect() - Method in class Armtty
purpose : close the connection to the robot arm
display() - Method in class ArmDisplay
purpose : show the scene on the output window
display() - Method in class Pic3DCanvas
purpose : show the scene on the output canvas
dot(Vector3D, Vector3D) - Static method in class Vector3D
purpose : dot product
drawObject3D(Object3D, Graphics) - Method in class Scene
purpose : project and draw the Object3D onto the Graphics
drawPolygon3D(Polygon3D, Graphics) - Method in class Scene
purpose : project and draw the Polygon3D onto the Graphics

G

getA(int) - Method in class DHSystem
purpose : get the relative distance a of a frame
getAlpha(int) - Method in class DHSystem
purpose : get the relative angle alpha of a frame
getCanvas(int, int) - Method in class ArmSimulator
get the output canvas
getD(int) - Method in class DHSystem
purpose : get the relative distance d of a frame
getFramePosition(int) - Method in class DHSystem
purpose : get the position of the origin of a frame
getTheta(int) - Method in class DHSystem
purpose : get the relative angle theta of a frame
getTransformation(int) - Method in class DHSystem
purpose : get the overall transformational matrix of a frame
grip(double) - Method in class ArmController
purpose : execute the command GRIP of the arm
grip(double) - Method in class ArmSimulator
purpose : execute the command GRIP of the arm
grip(double) - Method in class Armtty
purpose : send the command GRIP to the port
grip(double) - Method in class CRSPlusA150
purpose : execute the command GRIP of the arm

H

home() - Method in class ArmController
purpose : execute the command HOME of the arm
home() - Method in class ArmSimulator
purpose : home the arm
home() - Method in class Armtty
purpose : send the command HOME to the port
home() - Method in class CRSPlusA150
purpose : home the robot arm

I

identity() - Static method in class Matrix
purpose : create an identity matrix

L

length() - Method in class Vector3D
purpose : length of the vector

M

m - Variable in class Matrix
double m[4][4]
purpose : store the values of the matrix
ma(double, double, double, double, double) - Method in class ArmController
purpose : execute the command MA of the arm
ma(double, double, double, double, double) - Method in class ArmSimulator
purpose : execute the command MA of the arm
ma(double, double, double, double, double) - Method in class Armtty
purpose : send the command MA to the port
ma(double, double, double, double, double) - Method in class CRSPlusA150
purpose : execute the command MA of the arm
madeg(double, double, double, double, double) - Method in class ArmController
purpose : execute the command MA of the arm
madeg(double, double, double, double, double) - Method in class ArmSimulator
purpose : execute the command MA of the arm
madeg(double, double, double, double, double) - Method in class CRSPlusA150
purpose : execute the command MA of the arm
main(String[]) - Static method in class CreateInput
 
main(String[]) - Static method in class DemoController
 
main(String[]) - Static method in class DemoSimulator
 
main(String[]) - Static method in class TestBoth
 
main(String[]) - Static method in class TestController
 
main(String[]) - Static method in class TestSimulator
 
Matrix - class Matrix.
A class to represent a 4x4 transformational matrix
Matrix() - Constructor for class Matrix
Default constructor
purpose : initialize the matrix to a zero matrix
Matrix(Matrix) - Constructor for class Matrix
Copy constructor
purpose : initialize the matrix to the input Matrix x
mi(double, double, double, double, double) - Method in class ArmController
purpose : execute the command MI of the arm
mi(double, double, double, double, double) - Method in class ArmSimulator
purpose : execute command MI of the arm
mi(double, double, double, double, double) - Method in class CRSPlusA150
purpose : execute the command MI of the arm
mideg(double, double, double, double, double) - Method in class ArmController
purpose : execute the command MI of the arm
mideg(double, double, double, double, double) - Method in class ArmSimulator
purpose : execute command MI of the arm
mideg(double, double, double, double, double) - Method in class CRSPlusA150
purpose : execute the command MI of the arm
minus(Matrix, Matrix) - Static method in class Matrix
purpose : subtract one matrix by another matrix
minus(Vector3D, Vector3D) - Static method in class Vector3D
purpose : subtract one vector by another vector
move(double, double, double) - Method in class ArmController
to be implemented
move(double, double, double) - Method in class CRSPlusA150
to be implemented
multi(int, Vector3D) - Static method in class Vector3D
purpose : multiply a number with a vector
multi(Matrix, Matrix) - Static method in class Matrix
purpose : multiply two matrices

N

nextWord() - Method in class Sscanf
purpose : get the next word in the string
normalize() - Method in class Vector3D
purpose : normalizing the vector
numberOfObjects() - Method in class ArmDisplay
purpose : get the total number of objects
numberOfObjects() - Method in class Pic3DCanvas
purpose : get the total number of objects

O

Object3D - class Object3D.
A class to represent a 3D object
Object3D() - Constructor for class Object3D
Default constructor purpose : initialize an object with no polygons
Object3D(BufferedReader) - Constructor for class Object3D
Constructor purpose : initialize an object by the data obtained from the input reader
Object3D(int) - Constructor for class Object3D
Constructor purpose : initialize an object with some polygons
Object3D(Object3D) - Constructor for class Object3D
Copy constructor purpose : initialize an object to an input Object3D x
openWindow() - Method in class ArmSimulator
purpose : create an output window
openWindow(int, int) - Method in class ArmSimulator
purpose : create an output window

P

p - Variable in class Object3D
Polygon3D[] p
purpose : store the polygons of the object
paint(Graphics) - Method in class Pic3DCanvas
purpose : draw the buffer image on the canvas
Pic3DCanvas - class Pic3DCanvas.
A class to display 3D objects on canvas
Pic3DCanvas() - Constructor for class Pic3DCanvas
Default constructor purpose : initialize the object and set the output canvas's size to 100x100
Pic3DCanvas(int, int) - Constructor for class Pic3DCanvas
Constructor purpose : initialize the object
plus(Matrix, Matrix) - Static method in class Matrix
purpose : add two matrices
plus(Vector3D, Vector3D) - Static method in class Vector3D
purpose add two vectors together
Polygon3D - class Polygon3D.
A class to represent a 3D polygon
Polygon3D() - Constructor for class Polygon3D
Default constructor
purpose : initialize a polygon with no vertices
Polygon3D(int) - Constructor for class Polygon3D
Constructor
purpose : initialize a polygon with some vertices
print() - Method in class Matrix
purpose : print the matrix

R

radToDeg(double) - Static method in class CRSPlusA150
purpose : convert angle from radian into degree
ready() - Method in class ArmController
purpose : execute the command READY of the arm
ready() - Method in class ArmSimulator
purpose : set the arm to ready position
ready() - Method in class Armtty
purpose : send the command READY to the port
ready() - Method in class CRSPlusA150
purpose : set the arm to ready position
reset(int) - Method in class DHSystem
purpose : reset all relative DH coordinates of a frame
rotate(char, double) - Static method in class Matrix
purpose : create a rotational matrix
round(int) - Method in class Vector3D
purpose : round off the coordinates of the vector to some decimal places

S

scale(double, double, double) - Static method in class Matrix
purpose : create a scale matrix
Scene - class Scene.
A class to provide methods to draw objects in 3D world onto a Graphics object
version :
01/10/1997 original program in C written by Eleanor Yu and Ho Ng
09/08/1998 translated into Java by Ho Ng
12/08/1998 modified by Ho Ng
01/09/1998 modified by Ho Ng to support classes Polygon3D and Object3D
Scene() - Constructor for class Scene
Default constructor purpose : initialize the Scene object and set the output screen size to 512x512
Scene(int, int) - Constructor for class Scene
Constructor purpose : initialize the Scene object
setCamera(Vector3D, Vector3D, Vector3D) - Method in class Scene
purpose : set the position and orientation of the carmera
setCTM(Matrix) - Method in class Scene
purpose : change the current transformational matrix
setDH(int, double, double, double, double, int) - Method in class DHSystem
purpose : set all DH parameters of a frame
setScreen(int, int) - Method in class Scene
purpose : set the output screen
setStructure0() - Static method in class CreateInput
 
setStructure1() - Static method in class CreateInput
 
setStructure2() - Static method in class CreateInput
 
setStructure3() - Static method in class CreateInput
 
setStructure4() - Static method in class CreateInput
 
setStructure5() - Static method in class CreateInput
 
setStructure6() - Static method in class CreateInput
 
setStructure7() - Static method in class CreateInput
 
setViewport(double, double, double, double) - Method in class Scene
purpose : set the viewport of the output
setViewVolume(double, double, double, double, double) - Method in class Scene
purpose : set the view volume of the camera
speed(int) - Method in class ArmController
purpose : execute the command SPEED of the arm
speed(int) - Method in class ArmSimulator
purpose : execute the command SPEED of the arm
speed(int) - Method in class Armtty
purpose : send command SPEED to the port
speed(int) - Method in class CRSPlusA150
purpose : execute the command SPEED of the arm
Sscanf - class Sscanf.
Sscanf.java
Sscanf(String) - Constructor for class Sscanf
Default constructor public Sscanf() { buffer = new String(""); ptr = 0; } /** Constructor

T

TestBoth - class TestBoth.
 
TestBoth() - Constructor for class TestBoth
 
TestController - class TestController.
 
TestController() - Constructor for class TestController
 
TestSimulator - class TestSimulator.
 
TestSimulator() - Constructor for class TestSimulator
 
toString() - Method in class Vector3D
purpose : convert the vector to String
transformObject(Matrix, Object3D) - Static method in class Object3D
purpose : multiply each point of the Object3D by a matrix
transformObjectQ(Matrix, Object3D) - Static method in class Object3D
purpose : multiply each point of the Object3D by a matrix
transformPoint(Matrix, Vector3D) - Static method in class Vector3D
purpose : multiply a matrix with a vector
transformPointQ(Matrix, Vector3D) - Static method in class Vector3D
purpose : multiply a matrix with a vector, assume last row of the matrix is 0,0,0,1
transformPolygon(Matrix, Polygon3D) - Static method in class Polygon3D
purpose : multiply each point of the polygon by a matrix
transformPolygonQ(Matrix, Polygon3D) - Static method in class Polygon3D
purpose : multiply each point of the polygon by a matrix
translate(double, double, double) - Static method in class Matrix
purpose : create a translational matrix

U

update(Graphics) - Method in class ArmDisplay
purpose : update the frame
update(Graphics) - Method in class Pic3DCanvas
purpose : update the canvas
updateCamera(Vector3D, Vector3D, Vector3D) - Method in class Pic3DCanvas
purpose : change the position and orientation of the camera

V

v - Variable in class Vector3D
double v[3]
purpose : store the values of the coordinates
Vector3D - class Vector3D.
A class to represent a vector or a point in 3D system
Vector3D() - Constructor for class Vector3D
Default constructor
purpose : initialize the vector to (0.0, 0.0, 0.0)
Vector3D(double, double, double) - Constructor for class Vector3D
Constructor
purpose : initialize the vector to (x, y, z)
Vector3D(Vector3D) - Constructor for class Vector3D
Copy constructor
purpose : initialize the vector to the input Vector3D x)

A C D G H I L M N O P R S T U V