| accel_sum | robot | private |
| addJointGroup(const char *gname, const std::vector< std::string > &jnames) | robot | |
| addSensor(Sensor *sensor, int sensorType, int id) | hrp::Body | |
| att_sum | robot | private |
| Body() | hrp::Body | |
| Body(const Body &org) | hrp::Body | |
| bodyInterface() | hrp::Body | static |
| calcAngularMomentumJacobian(Link *base, dmatrix &H) | hrp::Body | |
| calcCM() | hrp::Body | |
| calcCMJacobian(Link *base, dmatrix &J) | hrp::Body | |
| calcForwardKinematics(bool calcVelocity=false, bool calcAcceleration=false) | hrp::Body | |
| calcInverseDynamics(Link *link, Vector3 &out_f, Vector3 &out_tau) | hrp::Body | |
| calcMassMatrix(dmatrix &out_M) | hrp::Body | |
| calcTotalMass() | hrp::Body | |
| calcTotalMomentum(Vector3 &out_P, Vector3 &out_L) | hrp::Body | |
| calcTotalMomentumFromJacobian(Vector3 &out_P, Vector3 &out_L) | hrp::Body | |
| calibrateForceSensorOneStep() | robot | private |
| calibrateInertiaSensorOneStep() | robot | private |
| checkEmergency(emg_reason &o_reason, int &o_id) | robot | |
| checkJointCommands(const double *i_commands) | robot | |
| clearExternalForces() | hrp::Body | |
| clearSensorValues() | hrp::Body | |
| createLight(Link *link, int lightType, const std::string &name) | hrp::Body | |
| createSensor(Link *link, int sensorType, int id, const std::string &name) | hrp::Body | |
| default_dgain | robot | private |
| default_pgain | robot | private |
| default_tqdgain | robot | private |
| default_tqpgain | robot | private |
| dgain | robot | private |
| disableDisturbanceObserver() | robot | |
| EJ_XY | hrp::Body | |
| EJ_XYZ | hrp::Body | |
| EJ_Z | hrp::Body | |
| EMG_FZ enum value | robot | |
| EMG_POWER_OFF enum value | robot | |
| emg_reason enum name | robot | |
| EMG_SERVO_ALARM enum value | robot | |
| EMG_SERVO_ERROR enum value | robot | |
| enableDisturbanceObserver() | robot | |
| extraJoints | hrp::Body | |
| ExtraJointType enum name | hrp::Body | |
| force_calib_counter | robot | private |
| force_sum | robot | private |
| G | robot | private |
| gain_control() | robot | private |
| gain_control(int id) | robot | private |
| gain_counter | robot | private |
| getDefaultRootPosition(Vector3 &out_p, Matrix33 &out_R) | hrp::Body | |
| getJointPath(Link *baseLink, Link *targetLink) | hrp::Body | |
| gyro_sum | robot | private |
| inertia_calib_counter | robot | private |
| init() | robot | |
| init() | robot | |
| initializeConfiguration() | hrp::Body | |
| initializeJointAngle(const char *name, const char *option) | robot | |
| installCustomizer() | hrp::Body | |
| installCustomizer(BodyCustomizerInterface *customizerInterface) | hrp::Body | |
| isBusy() const | robot | private |
| isStaticModel() | hrp::Body | |
| joint(int id) const | hrp::Body | |
| joints() const | hrp::Body | |
| lengthDigitalInput() | robot | |
| lengthDigitalOutput() | robot | |
| lengthOfExtraServoState(int id) | robot | |
| light(const std::string &name) | hrp::Body | |
| link(int index) const | hrp::Body | |
| link(const std::string &name) const | hrp::Body | |
| links() const | hrp::Body | |
| linkTraverse() const | hrp::Body | |
| loadGain() | robot | |
| m_accLimit | robot | |
| m_calibJointName | robot | private |
| m_calibOptions | robot | private |
| m_calibRequested | robot | private |
| m_commandOld | robot | private |
| m_dt | robot | private |
| m_enable_poweroff_check | robot | private |
| m_fzLimitRatio | robot | |
| m_jointGroups | robot | private |
| m_lLegForceSensorId | robot | private |
| m_maxZmpError | robot | |
| m_pdgainsFilename | robot | private |
| m_reportedEmergency | robot | private |
| m_rLegForceSensorId | robot | private |
| m_servoErrorLimit | robot | |
| m_servoOnDelay | robot | |
| m_velocityOld | robot | private |
| modelName() | hrp::Body | |
| name() | hrp::Body | |
| names2ids(const std::vector< std::string > &i_names, std::vector< int > &o_ids) | robot | private |
| numBatteries() | robot | |
| numJoints() const | hrp::Body | |
| numLinks() const | hrp::Body | |
| numSensors(int sensorType) const | hrp::Body | |
| numSensorTypes() const | hrp::Body | |
| numThermometers() | robot | |
| old_dgain | robot | private |
| old_pgain | robot | private |
| old_tqdgain | robot | private |
| old_tqpgain | robot | private |
| oneStep() | robot | |
| pgain | robot | private |
| power(int jid, bool turnon) | robot | |
| power(const char *jname, bool turnon) | robot | |
| putInformation(std::ostream &out) | hrp::Body | |
| readAccelerometer(unsigned int i_rank, double *o_accs) | robot | |
| readBatteryState(unsigned int i_rank, double &o_voltage, double &o_current, double &o_soc) | robot | |
| readCalibState(int i) | robot | |
| readDigitalInput(char *o_din) | robot | |
| readDigitalOutput(char *o_dout) | robot | |
| readDriverTemperature(int i) | robot | |
| readExtraServoState(int id, int *state) | robot | |
| readForceSensor(unsigned int i_rank, double *o_forces) | robot | |
| readGyroSensor(unsigned int i_rank, double *o_rates) | robot | |
| readJointAngles(double *o_angles) | robot | |
| readJointCommands(double *o_commands) | robot | |
| readJointCommandTorques(double *o_torques) | robot | |
| readJointTorques(double *o_torques) | robot | |
| readJointVelocities(double *o_velocities) | robot | |
| readPDControllerTorques(double *o_torques) | robot | |
| readPowerState(int i) | robot | |
| readPowerStatus(double &o_voltage, double &o_current) | robot | |
| readServoAlarm(int i) | robot | |
| readServoState(int i) | robot | |
| readThermometer(unsigned int i_rank, double &o_temp) | robot | |
| refCounter() | hrp::Referenced | protected |
| Referenced() | hrp::Referenced | |
| removeForceSensorOffset() | robot | |
| robot(double dt) | robot | |
| robot() | robot | |
| rootLink() const | hrp::Body | |
| sensor(int sensorType, int sensorId) const | hrp::Body | |
| sensor(int id) const | hrp::Body | |
| sensor(const std::string &name) const | hrp::Body | |
| servo(int jid, bool turnon) | robot | |
| servo(const char *jname, bool turnon) | robot | |
| setColumnOfMassMatrix(dmatrix &M, int column) | hrp::Body | |
| setDefaultRootPosition(const Vector3 &p, const Matrix33 &R) | hrp::Body | |
| setDisturbanceObserverGain(double gain) | robot | |
| setJointControlMode(const char *i_jname, joint_control_mode mode) | robot | |
| setJointInertia(const char *i_jname, double i_mn) | robot | |
| setJointInertias(const double *i_mn) | robot | |
| setModelName(const std::string &name) | hrp::Body | |
| setName(const std::string &name) | hrp::Body | |
| setProperty(const char *key, const char *value) | robot | |
| setRootLink(Link *link) | hrp::Body | |
| setServoErrorLimit(const char *i_jname, double i_limit) | robot | |
| setServoErrorLimit(const char *i_jname, double i_limit) | robot | |
| setServoGainPercentage(const char *i_jname, double i_percentage) | robot | |
| setServoTorqueGainPercentage(const char *i_jname, double i_percentage) | robot | |
| setVirtualJointForces() | hrp::Body | |
| startForceSensorCalibration() | robot | |
| startInertiaSensorCalibration() | robot | |
| totalMass() const | hrp::Body | |
| tqdgain | robot | private |
| tqpgain | robot | private |
| updateLinkColdetModelPositions() | hrp::Body | |
| updateLinkTree() | hrp::Body | |
| wait_sem | robot | private |
| writeAccelerationCommands(const double *i_commands) | robot | |
| writeDigitalOutput(const char *i_dout) | robot | |
| writeDigitalOutputWithMask(const char *i_dout, const char *i_mask) | robot | |
| writeJointCommands(const double *i_commands) | robot | |
| writeTorqueCommands(const double *i_commands) | robot | |
| writeVelocityCommands(const double *i_commands) | robot | |
| ~Body() | hrp::Body | virtual |
| ~Referenced() | hrp::Referenced | virtual |
| ~robot() | robot | |
| ~robot() | robot | |