Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
IKCom Class Reference

Center of mass position. More...

#include <ik.h>

Inheritance diagram for IKCom:
Inheritance graph
[legend]

Public Member Functions

IK::ConstType GetType ()
 Returns the constraint type. More...
 
 IKCom (IK *_ik, const char *_charname, IK::ConstIndex cindex[3], IK::Priority _pri, double _gain)
 
int Reset ()
 
void SetPos (const fVec3 &p)
 
 ~IKCom ()
 
- Public Member Functions inherited from IKConstraint
void Activate ()
 activate the constraint More...
 
int Active ()
 whether the constraint is activate More...
 
void Diactivate ()
 diactivate the constraint More...
 
void Disable ()
 disable the constraint More...
 
int Dropped ()
 
void Enable ()
 enable the constraint More...
 
double GetGain ()
 get the gain More...
 
JointGetJoint ()
 
IK::Priority GetPriority ()
 get the priproty More...
 
int iConst ()
 
int ID ()
 
 IKConstraint (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain)
 Default constructor. More...
 
int nConst ()
 
virtual void SetCharacterScale (double _scale, const char *charname=0)
 
void SetGain (double _gain)
 set the gain More...
 
void SetPriority (IK::Priority _pri)
 set the priproty More...
 
virtual ~IKConstraint ()
 Destructor. More...
 

Protected Member Functions

int calc_feedback ()
 compute the feedback velocity More...
 
int calc_jacobian ()
 Computes the constraint Jacobian. More...
 
- Protected Member Functions inherited from IKConstraint
int calc_jacobian (Joint *cur)
 the function recursively called for all joints (don't override) More...
 
virtual int calc_jacobian_free (Joint *cur)
 
virtual int calc_jacobian_rotate (Joint *cur)
 
virtual int calc_jacobian_slide (Joint *cur)
 
virtual int calc_jacobian_sphere (Joint *cur)
 
int copy_jacobian ()
 copy each constraint Jacobian to the whole Jacobian matrix More...
 

Protected Attributes

char * charname
 target character name More...
 
IK::ConstIndex const_index [3]
 which of three directions (x, y, z) are constrained More...
 
fVec3 cur_com
 current COM position More...
 
fVec3 des_com
 desired COM position More...
 
- Protected Attributes inherited from IKConstraint
int active
 
int enabled
 number of constraints More...
 
fVec fb
 Jacobian matrix (n_const x total DOF) More...
 
double gain
 priority More...
 
int i_const
 feedback velocity (n_const) More...
 
int id
 ID (unique to each constraint) More...
 
IKik
 
int is_dropped
 index in the constraints with the same priority More...
 
fMat J
 
Jointjoint
 target joint More...
 
char * joint_name
 
int n_const
 weight More...
 
IK::Priority priority
 
fVec weight
 feedback gain More...
 

Detailed Description

Center of mass position.

Definition at line 654 of file ik.h.

Constructor & Destructor Documentation

IKCom::IKCom ( IK _ik,
const char *  _charname,
IK::ConstIndex  cindex[3],
IK::Priority  _pri,
double  _gain 
)
inline

Definition at line 658 of file ik.h.

IKCom::~IKCom ( )
inline

Definition at line 684 of file ik.h.

Member Function Documentation

int IKCom::calc_feedback ( )
protectedvirtual

compute the feedback velocity

Implements IKConstraint.

Definition at line 38 of file com.cpp.

int IKCom::calc_jacobian ( )
protectedvirtual

Computes the constraint Jacobian.

Computes the constraint Jacobian. implementing the function:

  1. override calc_jacobian_slide() - calc_jacobian_free()
    the default implementation of calc_jacobian() calls each function depending on the joint type
  2. overried calc_jacobian()
    if the implementation does not depend on the joint type

Reimplemented from IKConstraint.

Definition at line 16 of file com.cpp.

IK::ConstType IKCom::GetType ( )
inlinevirtual

Returns the constraint type.

Implements IKConstraint.

Definition at line 688 of file ik.h.

int IKCom::Reset ( )
inlinevirtual

Reimplemented from IKConstraint.

Definition at line 691 of file ik.h.

void IKCom::SetPos ( const fVec3 p)
inline

Definition at line 695 of file ik.h.

Member Data Documentation

char* IKCom::charname
protected

target character name

Definition at line 704 of file ik.h.

IK::ConstIndex IKCom::const_index[3]
protected

which of three directions (x, y, z) are constrained

Definition at line 703 of file ik.h.

fVec3 IKCom::cur_com
protected

current COM position

Definition at line 706 of file ik.h.

fVec3 IKCom::des_com
protected

desired COM position

Definition at line 705 of file ik.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:28