Inheritance diagram for hrp::CustomizedJointPath:

Public Member Functions
virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix33 &end_R)

	CustomizedJointPath (Body body, Link baseLink, Link *targetLink)

virtual bool	hasAnalyticalIK ()

virtual	~CustomizedJointPath ()

Public Member Functions inherited from hrp::JointPath
Link *	baseLink () const

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

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)

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 ()

Public Member Functions inherited from hrp::InverseKinematics
virtual	~InverseKinematics ()

Private Attributes
Body *	body

int	ikTypeId

bool	isCustomizedIkPathReversed

Additional Inherited Members
Protected Attributes inherited from hrp::JointPath
bool	isBestEffortIKMode

double	maxIKErrorSqr

Detailed Description

Definition at line 38 of file Body.cpp.

Constructor & Destructor Documentation

CustomizedJointPath::CustomizedJointPath	(	Body *	body,
		Link *	baseLink,
		Link *	targetLink
	)

Definition at line 781 of file Body.cpp.

CustomizedJointPath::~CustomizedJointPath ( )

virtual

Definition at line 789 of file Body.cpp.

bool CustomizedJointPath::calcInverseKinematics	(	const Vector3 &	end_p,
		const Matrix33 &	end_R
	)

virtual

Reimplemented from hrp::JointPath.

Definition at line 812 of file Body.cpp.

bool CustomizedJointPath::hasAnalyticalIK ( )

virtual

Reimplemented from hrp::JointPath.

Definition at line 868 of file Body.cpp.

void CustomizedJointPath::onJointPathUpdated ( )

privatevirtual

Reimplemented from hrp::JointPath.

Definition at line 795 of file Body.cpp.

Body* hrp::CustomizedJointPath::body

private

Definition at line 40 of file Body.cpp.

int hrp::CustomizedJointPath::ikTypeId

private

Definition at line 41 of file Body.cpp.

bool hrp::CustomizedJointPath::isCustomizedIkPathReversed

private

Definition at line 42 of file Body.cpp.

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