#include <RTCBody.h>

Inheritance diagram for RTCBody:

Public Member Functions
void	createPorts (RTC::DataFlowComponentBase *comp)

void	input ()

void	output (OpenHRP::RobotState &state)

	RTCBody ()

	~RTCBody ()

Public Member Functions inherited from hrp::Body
void	addSensor (Sensor *sensor, int sensorType, int id)

	Body ()

	Body (const Body &org)

void	calcAngularMomentumJacobian (Link *base, dmatrix &H)

Vector3	calcCM ()

void	calcCMJacobian (Link *base, dmatrix &J)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)

void	calcMassMatrix (dmatrix &out_M)

double	calcTotalMass ()

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)

void	clearExternalForces ()

void	clearSensorValues ()

Light *	createLight (Link *link, int lightType, const std::string &name)

Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)

void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)

JointPathPtr	getJointPath (Link baseLink, Link targetLink)

void	initializeConfiguration ()

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	isStaticModel ()

Link *	joint (int id) const

const std::vector< Link * > &	joints () const

Light *	light (const std::string &name)

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	links () const

const LinkTraverse &	linkTraverse () const

const std::string &	modelName ()

const std::string &	name ()

unsigned int	numJoints () const

unsigned int	numLinks () const

unsigned int	numSensors (int sensorType) const

unsigned int	numSensorTypes () const

void	putInformation (std::ostream &out)

Link *	rootLink () const

Sensor *	sensor (int sensorType, int sensorId) const

TSensor *	sensor (const std::string &name) const

TSensor *	sensor (int id) const

void	setColumnOfMassMatrix (dmatrix &M, int column)

void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)

void	setModelName (const std::string &name)

void	setName (const std::string &name)

void	setRootLink (Link *link)

void	setVirtualJointForces ()

double	totalMass () const

void	updateLinkColdetModelPositions ()

void	updateLinkTree ()

virtual	~Body ()

Public Member Functions inherited from hrp::Referenced
	Referenced ()

virtual	~Referenced ()

Private Attributes
std::vector< RTC::TimedAcceleration3D >	m_acc

std::vector< RTC::OutPort< RTC::TimedAcceleration3D > * >	m_accOut

RTC::TimedDoubleSeq	m_ddqCmd

RTC::InPort< RTC::TimedDoubleSeq >	m_ddqCmdIn

RTC::TimedDoubleSeq	m_dqCmd

RTC::InPort< RTC::TimedDoubleSeq >	m_dqCmdIn

std::vector< RTC::TimedDoubleSeq >	m_force

std::vector< RTC::OutPort< RTC::TimedDoubleSeq > * >	m_forceOut

bool	m_highgain

RTC::TimedPoint3D	m_pos

RTC::OutPort< RTC::TimedPoint3D >	m_posOut

RTC::TimedDoubleSeq	m_q

RTC::TimedDoubleSeq	m_qCmd

RTC::InPort< RTC::TimedDoubleSeq >	m_qCmdIn

RTC::OutPort< RTC::TimedDoubleSeq >	m_qOut

std::vector< RTC::TimedAngularVelocity3D >	m_rate

std::vector< RTC::OutPort< RTC::TimedAngularVelocity3D > * >	m_rateOut

RTC::TimedOrientation3D	m_rpy

RTC::OutPort< RTC::TimedOrientation3D >	m_rpyOut

RTC::TimedDoubleSeq	m_tau

RTC::InPort< RTC::TimedDoubleSeq >	m_tauIn

Additional Inherited Members
Public Types inherited from hrp::Body
enum	ExtraJointType

Static Public Member Functions inherited from hrp::Body
static BodyInterface *	bodyInterface ()

Public Attributes inherited from hrp::Body
	EJ_XY

	EJ_XYZ

	EJ_Z

std::vector< ExtraJoint >	extraJoints

Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

Detailed Description

Definition at line 14 of file RTCBody.h.

Constructor & Destructor Documentation

RTCBody::RTCBody ( )

Definition at line 7 of file RTCBody.cpp.

RTCBody::~RTCBody ( )

Definition at line 19 of file RTCBody.cpp.

Member Function Documentation

void RTCBody::createPorts ( RTC::DataFlowComponentBase * comp )

Definition at line 23 of file RTCBody.cpp.

void RTCBody::input ( )

Definition at line 84 of file RTCBody.cpp.

void RTCBody::output ( OpenHRP::RobotState & state )

Definition at line 135 of file RTCBody.cpp.

Member Data Documentation

std::vector<RTC::TimedAcceleration3D> RTCBody::m_acc

private

Definition at line 34 of file RTCBody.h.

std::vector<RTC::OutPort<RTC::TimedAcceleration3D> *> RTCBody::m_accOut

private

Definition at line 41 of file RTCBody.h.

RTC::TimedDoubleSeq RTCBody::m_ddqCmd

private

Definition at line 24 of file RTCBody.h.

RTC::InPort<RTC::TimedDoubleSeq> RTCBody::m_ddqCmdIn

private

Definition at line 29 of file RTCBody.h.

RTC::TimedDoubleSeq RTCBody::m_dqCmd

private

Definition at line 24 of file RTCBody.h.

RTC::InPort<RTC::TimedDoubleSeq> RTCBody::m_dqCmdIn

private

Definition at line 28 of file RTCBody.h.

std::vector<RTC::TimedDoubleSeq> RTCBody::m_force

private

Definition at line 36 of file RTCBody.h.

std::vector<RTC::OutPort<RTC::TimedDoubleSeq> *> RTCBody::m_forceOut

private

Definition at line 43 of file RTCBody.h.

bool RTCBody::m_highgain

private

Definition at line 45 of file RTCBody.h.

RTC::TimedPoint3D RTCBody::m_pos

private

Definition at line 31 of file RTCBody.h.

RTC::OutPort<RTC::TimedPoint3D> RTCBody::m_posOut

private

Definition at line 38 of file RTCBody.h.

RTC::TimedDoubleSeq RTCBody::m_q

private

Definition at line 33 of file RTCBody.h.

RTC::TimedDoubleSeq RTCBody::m_qCmd

private

Definition at line 24 of file RTCBody.h.

RTC::InPort<RTC::TimedDoubleSeq> RTCBody::m_qCmdIn

private

Definition at line 27 of file RTCBody.h.

RTC::OutPort<RTC::TimedDoubleSeq> RTCBody::m_qOut

private

Definition at line 40 of file RTCBody.h.

std::vector<RTC::TimedAngularVelocity3D> RTCBody::m_rate

private

Definition at line 35 of file RTCBody.h.

std::vector<RTC::OutPort<RTC::TimedAngularVelocity3D> *> RTCBody::m_rateOut

private

Definition at line 42 of file RTCBody.h.

RTC::TimedOrientation3D RTCBody::m_rpy

private

Definition at line 32 of file RTCBody.h.

RTC::OutPort<RTC::TimedOrientation3D> RTCBody::m_rpyOut

private

Definition at line 39 of file RTCBody.h.

RTC::TimedDoubleSeq RTCBody::m_tau

private

Definition at line 23 of file RTCBody.h.

RTC::InPort<RTC::TimedDoubleSeq> RTCBody::m_tauIn

private

Definition at line 26 of file RTCBody.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation