hrp::JointPath Class Reference

#include <JointPath.h>

Inheritance diagram for hrp::JointPath:

Public Member Functions
Link *	baseLink () const
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix33 &end_R)
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)
virtual bool	hasAnalyticalIK ()
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 ()

Protected Member Functions
virtual void	onJointPathUpdated ()

Protected Attributes
bool	isBestEffortIKMode
double	maxIKErrorSqr

Private Member Functions
void	extractJoints ()
void	initialize ()

Private Attributes
std::vector< Link * >	joints
LinkPath	linkPath
int	numUpwardJointConnections

Detailed Description

Definition at line 26 of file JointPath.h.

Constructor & Destructor Documentation

JointPath() [1/3]

JointPath::JointPath

(

)

Definition at line 25 of file JointPath.cpp.

JointPath() [2/3]

JointPath::JointPath	(	Link *	base,
		Link *	end
	)

Definition at line 31 of file JointPath.cpp.

JointPath() [3/3]

JointPath::JointPath

(

Link *

end

)

Definition at line 40 of file JointPath.cpp.

~JointPath()

JointPath::~JointPath ( )

virtual

Definition at line 56 of file JointPath.cpp.

Member Function Documentation

baseLink()

Link* hrp::JointPath::baseLink ( ) const

inline

Definition at line 50 of file JointPath.h.

calcForwardKinematics()

void hrp::JointPath::calcForwardKinematics ( bool  calcVelocity = false, bool  calcAcceleration = false  ) const

inline

Definition at line 62 of file JointPath.h.

calcInverseKinematics() [1/2]

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

virtual

Implements hrp::InverseKinematics.

Reimplemented in hrp::CustomizedJointPath.

Definition at line 252 of file JointPath.cpp.

calcInverseKinematics() [2/2]

bool JointPath::calcInverseKinematics	(	const Vector3 &	base_p,
		const Matrix33 &	base_R,
		const Vector3 &	end_p,
		const Matrix33 &	end_R
	)

Definition at line 238 of file JointPath.cpp.

calcJacobian()

void JointPath::calcJacobian	(	dmatrix &	out_J,
		const Vector3 &	local_p = Vector3::Zero()
	)		const

Definition at line 128 of file JointPath.cpp.

calcJacobianDot()

void JointPath::calcJacobianDot	(	dmatrix &	out_dJ,
		const Vector3 &	local_p = Vector3::Zero()
	)		const

Definition at line 173 of file JointPath.cpp.

empty()

bool hrp::JointPath::empty ( void  ) const

inline

Definition at line 38 of file JointPath.h.

endLink()

Link* hrp::JointPath::endLink ( ) const

inline

Definition at line 54 of file JointPath.h.

extractJoints()

void JointPath::extractJoints ( )

private

Definition at line 83 of file JointPath.cpp.

find() [1/2]

bool JointPath::find	(	Link *	base,
		Link *	end
	)

Definition at line 62 of file JointPath.cpp.

find() [2/2]

bool JointPath::find

(

Link *

end

)

Definition at line 73 of file JointPath.cpp.

hasAnalyticalIK()

bool JointPath::hasAnalyticalIK ( )

virtual

Reimplemented in hrp::CustomizedJointPath.

Definition at line 341 of file JointPath.cpp.

initialize()

void JointPath::initialize ( void  )

private

Definition at line 49 of file JointPath.cpp.

isJointDownward()

bool hrp::JointPath::isJointDownward ( int  index ) const

inline

Definition at line 58 of file JointPath.h.

Jacobian()

dmatrix hrp::JointPath::Jacobian ( ) const

inline

Definition at line 68 of file JointPath.h.

joint()

Link* hrp::JointPath::joint ( int  index ) const

inline

Definition at line 46 of file JointPath.h.

numJoints()

unsigned int hrp::JointPath::numJoints ( ) const

inline

Definition at line 42 of file JointPath.h.

onJointPathUpdated()

void JointPath::onJointPathUpdated ( )

protectedvirtual

Reimplemented in hrp::CustomizedJointPath.

Definition at line 122 of file JointPath.cpp.

setBestEffortIKMode()

void JointPath::setBestEffortIKMode ( bool  on )

virtual

Definition at line 231 of file JointPath.cpp.

setMaxIKError()

void JointPath::setMaxIKError ( double  e )

virtual

Definition at line 225 of file JointPath.cpp.

Member Data Documentation

isBestEffortIKMode

bool hrp::JointPath::isBestEffortIKMode

protected

Definition at line 90 of file JointPath.h.

joints

std::vector<Link*> hrp::JointPath::joints

private

Definition at line 98 of file JointPath.h.

linkPath

LinkPath hrp::JointPath::linkPath

private

Definition at line 97 of file JointPath.h.

maxIKErrorSqr

double hrp::JointPath::maxIKErrorSqr

protected

Definition at line 89 of file JointPath.h.

numUpwardJointConnections

int hrp::JointPath::numUpwardJointConnections

private

Definition at line 99 of file JointPath.h.

---

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

• JointPath.h
• JointPath.cpp