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Thread: instance_articulated_system bindings

  1. #1
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    instance_articulated_system bindings

    hi all, the redundancy collada is providing in instance_articulated_system seems a little confusing. It seems that information provided by <bind> can be converted to use <newparam>, and vice versa.

    The articulated system examples provided in this forum use <newparam> only.....

    so my quesiton is, why was a <bind> tag created in the collada spec?

    thank you,
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  2. #2
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    Re: instance_articulated_system bindings

    In general, COLLADA bind elements are used within instance elements to declare information that is unique to that instantiation. i.e. per-instance data.

    In the case of instance_articulated_system, the bind element maps a new symbolic name to an existing parameter or constant value. This is intended to be useful in very complex hierarchies of articulated systems.

  3. #3
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    Re: instance_articulated_system bindings

    hi marcus,

    Isn't this exactly what <newparam> does when a SIDREF is specified?
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  4. #4
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    Re: instance_articulated_system bindings

    Not exactly.

    In kinematics, bind declares an alias in the current scope for a preexisting parameter, constant value, or object. It doesn't create a new parameter. It's like a C++ reference or const-reference.

    newparam declares a new parameter in the current scope and in the case of SIDREF, it's like a C++ pointer to a preexisting variable. If you change the value of this newparam, you are (only) changing what (other parameter) it refers to.

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