still some work to do with links and union

src/core/RotMatrix.cpp

@@ -20,6 +20,19 @@
 #include "RotMatrix.h"
 #include "Math.h"
 
+RotationalMatrix RotationalMatrix::getInv() const{
+    RotationalMatrix inv;
+
+    //Inverse of RotMatrix is its traspose
+    for (int i=1;i<=3;i++){
+        for (int j=1;j<=3;j++){
+            inv.set(i,j,get(j,i));
+        }
+    }
+
+    return inv;
+}
+
 RotationalMatrix& RotationalMatrix::operator *(RotationalMatrix const & matrix){
     RotationalMatrix* result = new RotationalMatrix();
 

src/core/RotMatrix.h

@@ -124,6 +124,8 @@ class OOMLCore_EXP_DEC RotationalMatrix: public Matrix<double,3,3>
       */
     void getGlobalXYZAngles(double &x, double &y, double &z);
 
+    RotationalMatrix getInv() const;
+
 };
 
 #endif // REFSYS_H_INCLUDED

src/core/TransformDecorator.h

@@ -64,7 +64,7 @@ class OOMLCore_EXP_DEC TransformDecorator : public ObjectDecorator
 
             TransformMatrix tr2  = transform->_tr;
 
-            //if there are untransformed links apply before transforming
+            //if there are links apply inverse of transformation before transforming
             Links lks = transform->AbstractObject::getLinks();
             for (int i=0;i<lks.size();i++){
                 RefSys lk = lks[i];

src/core/Union.cpp

@@ -23,38 +23,34 @@
 #include <iostream>
 
 Links Union::getLinks() const {
+    std::cout << "I am here" << std::endl;
+    Links lks1;
+
     if (hasLinks()){ //If the Union Component has links return all its links and all the children links
-        Links lks1 = AbstractObject::getLinks();
-        Links lks2 = _children[0]->getLinks();
+        lks1 = AbstractObject::getLinks();
+    }
+
+    for (int j=0;j<_children.size();j++){
+        Links lks2 = _children[j]->getLinks();
         lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
-        return lks1;
-    }else{ //Return all the children links
-        Links lks1;
-        for (int j=0;j<_children.size();j++){
-            Links lks2 = _children[0]->getLinks();
-            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
-        }
-        return lks1;
     }
+
+    return lks1;
 }
 
 RefSys Union::getLink(int i) const {
-    if (hasLinks()){ //If the Union Component has links consider all its links and all the children links
-        Links lks1 = AbstractObject::getLinks();
-        for (int j=0;j<_children.size();j++){
-            Links lks2 = _children[0]->getLinks();
-            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
-        }
-        return lks1[i];
+    Links lks1, lks2;
 
-    }else{ //Consider all the children links
-        Links lks1;
-        for (int j=0;j<_children.size();j++){
-            Links lks2 = _children[0]->getLinks();
-            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
-        }
-        return lks1[i];
+    if (hasLinks()){ //If the Union Component has links return all its links and all the children links
+        lks1 = AbstractObject::getLinks();
     }
+
+    for (int j=0;j<_children.size();j++){
+        lks2 = _children[j]->getLinks();
+        lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+    }
+
+    return lks1[i];
 }
 
 

src/parts/ArduinoUNO.cpp

@@ -62,14 +62,6 @@ Component ArduinoUNO::getBoard(double height, double holes_height, bool fill_hol
 	 else
 		 board = prism1 + prism2 - holes;
 
-     //Add one link at each drill
-     board.addLink(RefSys(13.97,2.54,0));
-     board.addLink(RefSys(66.04,7.62,0));
-     board.addLink(RefSys(66.04,35.56,0));
-     board.addLink(RefSys(15.24,50.8,0));
-
-
-
 	 return board.color(0,0,1);
 }
 

src/parts/ArduinoUNO.h

@@ -53,6 +53,10 @@ class OOMLParts_EXP_DEC ArduinoUNO : public AbstractPart
 		_fourth_drill(fourth_hole)
   {
     rebuild();
+    addLink(RefSys(13.97,2.54,0));
+    addLink(RefSys(66.04,7.62,0));
+    addLink(RefSys(66.04,35.56,0));
+    addLink(RefSys(15.24,50.8,0));
   }
   /**
    * \brief Default destructor.

test/attachment.cpp

@@ -24,16 +24,29 @@ int main(int argc, char **argv)
 
     //Component cyl = Cylinder(3,50);
 
-    cube1.translate(5,0,0);
+    //cube1.translate(5,0,0);
 
     cube1.addLink(RefSys(0,0,0));
 
-    cube1.translate(5,0,0);
-    cube1.rotate(0,0,45);
+    Component cube2 = Cube(3,50,2);
+    cube2.addLink(RefSys(1.5,25,1.5));
+
+    //cube1.translate(5,0,0);
+    //cube1.rotate(0,0,45);
+
+    Component ardu = ArduinoUNO();
+
+    Component wheel = SharpIRSensor();
+
+    wheel.addLink(RefSys(10,10,10));
+
+    Component comp = ardu + cube1;
+
+    //comp.addLink(RefSys(20,20,20));
 
     /* Generate OpenSCAD code and write to file */
-    writer << LinksView(cube1);
-    writer << cube1;
+    writer << LinksView(comp);
+    writer << comp;
     file << writer ;
     file.close();
     std::cout << "Done" << std::endl;