Classes | Namespaces | Typedefs | Functions
JointPathEx.h File Reference
#include <hrpModel/Body.h>
#include <hrpModel/Link.h>
#include <hrpModel/JointPath.h>
#include <cmath>
#include <coil/stringutil.h>
#include <iomanip>
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Classes

class  hrp::InvDynStateBuffer
 
class  hrp::JointPathEx
 
struct  hrp::VirtualForceSensorParam
 

Namespaces

 hrp
 

Typedefs

typedef boost::shared_ptr< JointPathEx > hrp::JointPathExPtr
 

Functions

void hrp::calcAccelerationsForInverseDynamics (const hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb)
 
void hrp::calcRootLinkWrenchFromInverseDynamics (hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb, hrp::Vector3 &_f_ans, hrp::Vector3 &_t_ans)
 
int hrp::calcSRInverse (const dmatrix &_a, dmatrix &_a_sr, double _sr_ratio, dmatrix _w)
 
void hrp::calcWorldZMPFromInverseDynamics (hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb, hrp::Vector3 &_zmp_ans)
 
void hrp::readInterlockingJointsParamFromProperties (std::vector< std::pair< Link *, Link * > > &pairs, hrp::BodyPtr m_robot, const std::string &prop_string, const std::string &instance_name)
 
void hrp::readVirtualForceSensorParamFromProperties (std::map< std::string, hrp::VirtualForceSensorParam > &vfs, hrp::BodyPtr m_robot, const std::string &prop_string, const std::string &instance_name)
 
void hrp::updateInvDynStateBuffer (InvDynStateBuffer &_idsb)
 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:52