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

Desired joint values. More...

#include <ik.h>

Inheritance diagram for IKDesire:
Inheritance graph
[legend]

Public Member Functions

IK::ConstType GetType ()
 Returns the constraint type. More...
 
 IKDesire (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain)
 
int Reset ()
 
void SetCharacterScale (double _scale, const char *charname=0)
 
void SetDesire (double _q)
 
void SetDesire (const fMat33 &_att)
 
void SetDesire (const fVec3 &_pos, const fMat33 &_att)
 
void SetDesire (const fVec3 &_pos)
 
 ~IKDesire ()
 
- 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 ()
 
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_free (Joint *cur)
 
int calc_jacobian_rotate (Joint *cur)
 
int calc_jacobian_slide (Joint *cur)
 
int calc_jacobian_sphere (Joint *cur)
 
- Protected Member Functions inherited from IKConstraint
virtual int calc_jacobian ()
 Computes the constraint Jacobian. More...
 
int calc_jacobian (Joint *cur)
 the function recursively called for all joints (don't override) More...
 
int copy_jacobian ()
 copy each constraint Jacobian to the whole Jacobian matrix More...
 

Protected Attributes

fMat33 att_des
 desired joint orientation for 3/6 DOF joints More...
 
fVec3 pos_des
 desired joint position for 6DOF joints More...
 
double q_des
 desired joint value for 1DOF joints 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...
 

Friends

class IK
 

Detailed Description

Desired joint values.

Definition at line 555 of file ik.h.

Constructor & Destructor Documentation

IKDesire::IKDesire ( IK _ik,
const char *  _jname,
Joint _jnt,
IK::Priority  _pri,
double  _gain 
)
inline

Definition at line 560 of file ik.h.

IKDesire::~IKDesire ( )
inline

Definition at line 593 of file ik.h.

Member Function Documentation

int IKDesire::calc_feedback ( )
protectedvirtual

compute the feedback velocity

Implements IKConstraint.

Definition at line 65 of file desire.cpp.

int IKDesire::calc_jacobian_free ( Joint cur)
protectedvirtual

Reimplemented from IKConstraint.

Definition at line 48 of file desire.cpp.

int IKDesire::calc_jacobian_rotate ( Joint cur)
protectedvirtual

Reimplemented from IKConstraint.

Definition at line 16 of file desire.cpp.

int IKDesire::calc_jacobian_slide ( Joint cur)
protectedvirtual

Reimplemented from IKConstraint.

Definition at line 25 of file desire.cpp.

int IKDesire::calc_jacobian_sphere ( Joint cur)
protectedvirtual

Reimplemented from IKConstraint.

Definition at line 34 of file desire.cpp.

IK::ConstType IKDesire::GetType ( )
inlinevirtual

Returns the constraint type.

Implements IKConstraint.

Definition at line 618 of file ik.h.

int IKDesire::Reset ( )
inlinevirtual

Reimplemented from IKConstraint.

Definition at line 596 of file ik.h.

void IKDesire::SetCharacterScale ( double  _scale,
const char *  charname = 0 
)
virtual

Reimplemented from IKConstraint.

Definition at line 674 of file ik.cpp.

void IKDesire::SetDesire ( double  _q)
inline

Definition at line 622 of file ik.h.

void IKDesire::SetDesire ( const fMat33 _att)
inline

Definition at line 625 of file ik.h.

void IKDesire::SetDesire ( const fVec3 _pos,
const fMat33 _att 
)
inline

Definition at line 628 of file ik.h.

void IKDesire::SetDesire ( const fVec3 _pos)
inline

Definition at line 632 of file ik.h.

Friends And Related Function Documentation

friend class IK
friend

Definition at line 558 of file ik.h.

Member Data Documentation

fMat33 IKDesire::att_des
protected

desired joint orientation for 3/6 DOF joints

Definition at line 646 of file ik.h.

fVec3 IKDesire::pos_des
protected

desired joint position for 6DOF joints

Definition at line 647 of file ik.h.

double IKDesire::q_des
protected

desired joint value for 1DOF joints

Definition at line 645 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