Public Member Functions | Protected Member Functions | Protected Attributes
IKCom Class Reference

Center of mass position. More...

#include <ik.h>

Inheritance diagram for IKCom:
Inheritance graph
[legend]

List of all members.

Public Member Functions

IK::ConstType GetType ()
 Returns the constraint type.
 IKCom (IK *_ik, const char *_charname, IK::ConstIndex cindex[3], IK::Priority _pri, double _gain)
int Reset ()
void SetPos (const fVec3 &p)
 ~IKCom ()

Protected Member Functions

int calc_feedback ()
 compute the feedback velocity
int calc_jacobian ()
 Computes the constraint Jacobian.

Protected Attributes

char * charname
 target character name
IK::ConstIndex const_index [3]
 which of three directions (x, y, z) are constrained
fVec3 cur_com
 current COM position
fVec3 des_com
 desired COM position

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 ( ) [protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 38 of file com.cpp.

int IKCom::calc_jacobian ( ) [protected, virtual]

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 ( ) [inline, virtual]

Returns the constraint type.

Implements IKConstraint.

Definition at line 688 of file ik.h.

int IKCom::Reset ( ) [inline, virtual]

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.

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 Thu Apr 11 2019 03:30:21