#include <kinematics_dynamics.h>
Public Member Functions | |
Eigen::MatrixXd | calcCenterOfMass (Eigen::MatrixXd mc) |
void | calcForwardKinematics (int joint_ID) |
bool | calcInverseKinematics (int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
bool | calcInverseKinematics (int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
bool | calcInverseKinematics (int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err, Eigen::MatrixXd weight) |
bool | calcInverseKinematics (int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err, Eigen::MatrixXd weight) |
bool | calcInverseKinematicsForLeftLeg (double *out, double x, double y, double z, double roll, double pitch, double yaw) |
bool | calcInverseKinematicsForLeg (double *out, double x, double y, double z, double roll, double pitch, double yaw) |
bool | calcInverseKinematicsForRightLeg (double *out, double x, double y, double z, double roll, double pitch, double yaw) |
Eigen::MatrixXd | calcJacobian (std::vector< int > idx) |
Eigen::MatrixXd | calcJacobianCOM (std::vector< int > idx) |
void | calcJointsCenterOfMass (int joint_id) |
Eigen::MatrixXd | calcMassCenter (int joint_id) |
double | calcTotalMass (int joint_id) |
Eigen::MatrixXd | calcVWerr (Eigen::MatrixXd tar_position, Eigen::MatrixXd curr_position, Eigen::MatrixXd tar_orientation, Eigen::MatrixXd curr_orientation) |
std::vector< int > | findRoute (int to) |
std::vector< int > | findRoute (int from, int to) |
KinematicsDynamics () | |
KinematicsDynamics (TreeSelect tree) | |
~KinematicsDynamics () | |
Public Attributes | |
double | ankle_length_m_ |
double | calf_length_m_ |
double | leg_side_offset_m_ |
double | thigh_length_m_ |
LinkData * | thormang3_link_data_ [ALL_JOINT_ID+1] |
Definition at line 45 of file kinematics_dynamics.h.
thormang3::KinematicsDynamics::KinematicsDynamics | ( | ) |
Definition at line 30 of file kinematics_dynamics.cpp.
thormang3::KinematicsDynamics::~KinematicsDynamics | ( | ) |
Definition at line 31 of file kinematics_dynamics.cpp.
thormang3::KinematicsDynamics::KinematicsDynamics | ( | TreeSelect | tree | ) |
Definition at line 33 of file kinematics_dynamics.cpp.
Eigen::MatrixXd thormang3::KinematicsDynamics::calcCenterOfMass | ( | Eigen::MatrixXd | mc | ) |
Definition at line 753 of file kinematics_dynamics.cpp.
void thormang3::KinematicsDynamics::calcForwardKinematics | ( | int | joint_ID | ) |
Definition at line 764 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematics | ( | int | to, |
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err | ||
) |
Definition at line 851 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematics | ( | int | from, |
int | to, | ||
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err | ||
) |
Definition at line 915 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematics | ( | int | to, |
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err, | ||
Eigen::MatrixXd | weight | ||
) |
Definition at line 979 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematics | ( | int | from, |
int | to, | ||
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err, | ||
Eigen::MatrixXd | weight | ||
) |
Definition at line 1063 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematicsForLeftLeg | ( | double * | out, |
double | x, | ||
double | y, | ||
double | z, | ||
double | roll, | ||
double | pitch, | ||
double | yaw | ||
) |
Definition at line 1244 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematicsForLeg | ( | double * | out, |
double | x, | ||
double | y, | ||
double | z, | ||
double | roll, | ||
double | pitch, | ||
double | yaw | ||
) |
Definition at line 1142 of file kinematics_dynamics.cpp.
bool thormang3::KinematicsDynamics::calcInverseKinematicsForRightLeg | ( | double * | out, |
double | x, | ||
double | y, | ||
double | z, | ||
double | roll, | ||
double | pitch, | ||
double | yaw | ||
) |
Definition at line 1228 of file kinematics_dynamics.cpp.
Eigen::MatrixXd thormang3::KinematicsDynamics::calcJacobian | ( | std::vector< int > | idx | ) |
Definition at line 794 of file kinematics_dynamics.cpp.
Eigen::MatrixXd thormang3::KinematicsDynamics::calcJacobianCOM | ( | std::vector< int > | idx | ) |
Definition at line 815 of file kinematics_dynamics.cpp.
void thormang3::KinematicsDynamics::calcJointsCenterOfMass | ( | int | joint_id | ) |
Definition at line 738 of file kinematics_dynamics.cpp.
Eigen::MatrixXd thormang3::KinematicsDynamics::calcMassCenter | ( | int | joint_id | ) |
Definition at line 723 of file kinematics_dynamics.cpp.
double thormang3::KinematicsDynamics::calcTotalMass | ( | int | joint_id | ) |
Definition at line 711 of file kinematics_dynamics.cpp.
Eigen::MatrixXd thormang3::KinematicsDynamics::calcVWerr | ( | Eigen::MatrixXd | tar_position, |
Eigen::MatrixXd | curr_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
Eigen::MatrixXd | curr_orientation | ||
) |
Definition at line 838 of file kinematics_dynamics.cpp.
std::vector< int > thormang3::KinematicsDynamics::findRoute | ( | int | to | ) |
Definition at line 671 of file kinematics_dynamics.cpp.
std::vector< int > thormang3::KinematicsDynamics::findRoute | ( | int | from, |
int | to | ||
) |
Definition at line 691 of file kinematics_dynamics.cpp.
double thormang3::KinematicsDynamics::ankle_length_m_ |
Definition at line 83 of file kinematics_dynamics.h.
double thormang3::KinematicsDynamics::calf_length_m_ |
Definition at line 82 of file kinematics_dynamics.h.
double thormang3::KinematicsDynamics::leg_side_offset_m_ |
Definition at line 84 of file kinematics_dynamics.h.
double thormang3::KinematicsDynamics::thigh_length_m_ |
Definition at line 81 of file kinematics_dynamics.h.
LinkData* thormang3::KinematicsDynamics::thormang3_link_data_[ALL_JOINT_ID+1] |
Definition at line 79 of file kinematics_dynamics.h.