hrp::JointPath Class Reference

#include <JointPath.h>

Inheritance diagram for hrp::JointPath:

List of all members.

Public Member Functions
Link *	baseLink () const
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix33 &end_R)
bool	calcInverseKinematics (const Vector3 &base_p, const Matrix33 &base_R, const Vector3 &end_p, const Matrix33 &end_R)
void	calcJacobian (dmatrix &out_J, const Vector3 &local_p=Vector3::Zero()) const
void	calcJacobianDot (dmatrix &out_dJ, const Vector3 &local_p=Vector3::Zero()) const
bool	empty () const
Link *	endLink () const
bool	find (Link *base, Link *end)
bool	find (Link *end)
virtual bool	hasAnalyticalIK ()
bool	isJointDownward (int index) const
dmatrix	Jacobian () const
Link *	joint (int index) const
	JointPath ()
	JointPath (Link *base, Link *end)
	JointPath (Link *end)
unsigned int	numJoints () const
virtual void	setBestEffortIKMode (bool on)
virtual void	setMaxIKError (double e)
virtual	~JointPath ()
Protected Member Functions
virtual void	onJointPathUpdated ()
Protected Attributes
bool	isBestEffortIKMode
double	maxIKErrorSqr
Private Member Functions
void	extractJoints ()
void	initialize ()
Private Attributes
std::vector< Link * >	joints
LinkPath	linkPath
int	numUpwardJointConnections

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Detailed Description

Definition at line 26 of file JointPath.h.

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Constructor & Destructor Documentation

JointPath::JointPath

(

)

Definition at line 25 of file JointPath.cpp.

JointPath::JointPath	(	Link *	base,
		Link *	end
	)

Definition at line 31 of file JointPath.cpp.

JointPath::JointPath

(

Link *

end

)

Definition at line 40 of file JointPath.cpp.

JointPath::~JointPath

(

)

[virtual]

Definition at line 56 of file JointPath.cpp.

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Member Function Documentation

Link* hrp::JointPath::baseLink

(

)

const [inline]

Definition at line 50 of file JointPath.h.

void hrp::JointPath::calcForwardKinematics	(	bool	calcVelocity = false,
		bool	calcAcceleration = false
	)		const [inline]

Definition at line 62 of file JointPath.h.

bool JointPath::calcInverseKinematics	(	const Vector3 &	end_p,
		const Matrix33 &	end_R
	)		[virtual]

Implements hrp::InverseKinematics.

Reimplemented in hrp::CustomizedJointPath.

Definition at line 252 of file JointPath.cpp.

bool JointPath::calcInverseKinematics	(	const Vector3 &	base_p,
		const Matrix33 &	base_R,
		const Vector3 &	end_p,
		const Matrix33 &	end_R
	)

Definition at line 238 of file JointPath.cpp.

void JointPath::calcJacobian	(	dmatrix &	out_J,
		const Vector3 &	local_p = Vector3::Zero()
	)		const

Definition at line 128 of file JointPath.cpp.

void JointPath::calcJacobianDot	(	dmatrix &	out_dJ,
		const Vector3 &	local_p = Vector3::Zero()
	)		const

Definition at line 173 of file JointPath.cpp.

bool hrp::JointPath::empty

(

void

)

const [inline]

Definition at line 38 of file JointPath.h.

Link* hrp::JointPath::endLink

(

)

const [inline]

Definition at line 54 of file JointPath.h.

void JointPath::extractJoints

(

)

[private]

Definition at line 83 of file JointPath.cpp.

bool JointPath::find	(	Link *	base,
		Link *	end
	)

Definition at line 62 of file JointPath.cpp.

bool JointPath::find

(

Link *

end

)

Definition at line 73 of file JointPath.cpp.

bool JointPath::hasAnalyticalIK

(

)

[virtual]

Reimplemented in hrp::CustomizedJointPath.

Definition at line 341 of file JointPath.cpp.

void JointPath::initialize

(

void

)

[private]

Definition at line 49 of file JointPath.cpp.

bool hrp::JointPath::isJointDownward

(

int

index

)

const [inline]

Definition at line 58 of file JointPath.h.

dmatrix hrp::JointPath::Jacobian

(

)

const [inline]

Definition at line 68 of file JointPath.h.

Link* hrp::JointPath::joint

(

int

index

)

const [inline]

Definition at line 46 of file JointPath.h.

unsigned int hrp::JointPath::numJoints

(

)

const [inline]

Definition at line 42 of file JointPath.h.

void JointPath::onJointPathUpdated

(

)

[protected, virtual]

Reimplemented in hrp::CustomizedJointPath.

Definition at line 122 of file JointPath.cpp.

void JointPath::setBestEffortIKMode

(

bool

on

)

[virtual]

Definition at line 231 of file JointPath.cpp.

void JointPath::setMaxIKError

(

double

e

)

[virtual]

Definition at line 225 of file JointPath.cpp.

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Member Data Documentation

bool hrp::JointPath::isBestEffortIKMode [protected]

Definition at line 90 of file JointPath.h.

std::vector<Link*> hrp::JointPath::joints [private]

Definition at line 98 of file JointPath.h.

LinkPath hrp::JointPath::linkPath [private]

Definition at line 97 of file JointPath.h.

double hrp::JointPath::maxIKErrorSqr [protected]

Definition at line 89 of file JointPath.h.

int hrp::JointPath::numUpwardJointConnections [private]

Definition at line 99 of file JointPath.h.

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The documentation for this class was generated from the following files:

• JointPath.h
• JointPath.cpp