hrp::CustomizedJointPath Class Reference

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 Member Functions
virtual void	onJointPathUpdated ()

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

Definition at line 781 of file Body.cpp.

~CustomizedJointPath()

CustomizedJointPath::~CustomizedJointPath ( )

virtual

Definition at line 789 of file Body.cpp.

Member Function Documentation

calcInverseKinematics()

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

virtual

Reimplemented from hrp::JointPath.

Definition at line 812 of file Body.cpp.

hasAnalyticalIK()

bool CustomizedJointPath::hasAnalyticalIK ( )

virtual

Reimplemented from hrp::JointPath.

Definition at line 868 of file Body.cpp.

onJointPathUpdated()

void CustomizedJointPath::onJointPathUpdated ( )

privatevirtual

Reimplemented from hrp::JointPath.

Definition at line 795 of file Body.cpp.

Member Data Documentation

body

Body* hrp::CustomizedJointPath::body

private

Definition at line 40 of file Body.cpp.

ikTypeId

int hrp::CustomizedJointPath::ikTypeId

private

Definition at line 41 of file Body.cpp.

isCustomizedIkPathReversed

bool hrp::CustomizedJointPath::isCustomizedIkPathReversed

private

Definition at line 42 of file Body.cpp.

---

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

• Body.cpp