Public Member Functions | Private Member Functions | Private Attributes | List of all members
hrp::CustomizedJointPath Class Reference
Inheritance diagram for hrp::CustomizedJointPath:
Inheritance graph
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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
LinkbaseLink () 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
 
LinkendLink () const
 
bool find (Link *base, Link *end)
 
bool find (Link *end)
 
bool isJointDownward (int index) const
 
dmatrix Jacobian () const
 
Linkjoint (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 Member Functions

virtual void onJointPathUpdated ()
 

Private Attributes

Bodybody
 
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.

Member Function Documentation

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.

Member Data Documentation

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:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:31