prismatic joints

Hi,

Thanks for that extremely detailed answer to my query, Marc. I wanted to 
know exactly that.
I have another question - this one is about prismatic joints in breve. I 
have used prismatic joints in my gripper design. When I run the 
simulation, the links sort of fall to ground. I thought I should use 
set-joint-limits but I get a compiler error when I try to do that. There 
is a get-joint-position method but no set-joint-position method. How can 
one control the joint?

Regards,
Mithila

Marc Szymanski wrote:

>Hi,
>
>you could write a method in the controller class that returns the pointer to 
>the body.
>
>Control : myController {
>	+ variables:
>		body, gripper (object).
>	...
>	+ to get-gripper:
>		return gripper.
>
>	+ to get-body:
>		return body.
>}
>
>You could now access the body and the gripper in every other class with 
>"(controller get-body) method-of-body." or "(controller get-gripper) 
>method-of-gripper.".
>
>An ohter way would be, if you want to have several bodies with grippers that 
>belong to each other, to initialize the gripper with the body.
>
>Real : Gripper {
>	+ variables:
>		myBody (object).
>
>	+ to init-with body theBody (object):
>		myBody = theBody.
>		# the following line is very important.
>		return self. 		
>}
>
>I think this would be the most elegant way. Cause you have a typical 
>OO-connection like a "gripper has a body". You could create the gripper in 
>the init method of the body. I think this is much cleaner than statics or 
>friends even C++ because it defines their connection. Did you read the stuff 
>about the Multibody? Because you need to link the gripper with the body if 
>you want to move the gripper when moving the body.
>
>I hope I understood your question.
>
>\Marc
>
>
>On Wednesday, 20. April 2005 04:38, Mithila Patwardhan wrote:
>  
>
>>Hi,
>>
>>I have a question about accessing items outside a class. I am trying to
>>build a vehicular robot with a gripper. I have a class for the body of
>>the robot and another for the gripper. I want to use an object which
>>belongs to the class for the body inside the iterate procedure in the
>>gripper class.
>>
>>I have read through the breve documentation and was unable to come up
>>with a way of doing this. In fact, what is a clean way of referring to
>>objects from other classes without instantiating the class (something
>>along the lines of static members or friend functions?)
>>
>>Thanks,
>>Mithila
>>_______________________________________________
>>breve mailing list
>>[email protected]
>>http://lists.spiderland.org/mailman/listinfo/breve
>>    
>>
>
>  
>
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