Public Member Functions | Protected Member Functions | Protected Attributes | Friends
IKHandle Class Reference

Position constraint. More...

#include <ik.h>

Inheritance diagram for IKHandle:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void GetAtt (fMat33 &_abs_att)
 obtain constraint orientation
void GetConstIndex (IK::ConstIndex _cindex[])
void GetPos (fVec3 &_abs_pos)
 obtain constraint position
IK::ConstType GetType ()
 Returns the constraint type.
 IKHandle (IK *_ik, const char *_jname, Joint *_jnt, IK::ConstIndex cindex[6], IK::Priority _pri, double _gain, const fVec3 &_rel_pos=0.0, const fMat33 &_rel_att=1.0, Joint *_other_joint=0)
int Reset ()
 reset the constraint position/orientation by the current values
void SetAtt (const fMat33 &_abs_att)
 set the constraint orientation
void SetCharacterScale (double _scale, const char *charname=0)
void SetPos (const fVec3 &_abs_pos)
 set the constraint position
void SetRelPos (const fVec3 &_rel_pos)
 set relative position of the constraint
 ~IKHandle ()

Protected Member Functions

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

Protected Attributes

fMat33 abs_att
 current constraint orientation
fVec3 abs_pos
 current constraint position
IK::ConstIndex const_index [6]
 with/without constraint for each DOF
Jointother_joint
 connected to other joint: constrains the relative position and/or orientation w.r.t. other_joint's frame
fMat33 rel_att
fVec3 rel_pos

Friends

class IK

Detailed Description

Position constraint.

Definition at line 416 of file ik.h.


Constructor & Destructor Documentation

IKHandle::IKHandle ( IK _ik,
const char *  _jname,
Joint _jnt,
IK::ConstIndex  cindex[6],
IK::Priority  _pri,
double  _gain,
const fVec3 _rel_pos = 0.0,
const fMat33 _rel_att = 1.0,
Joint _other_joint = 0 
) [inline]

Default constructor.

Parameters:
[in]_ik
[in]_jname
[in]_jnt
[in]cindex
[in]_pri
[in]_gain
[in]_rel_posrelative position in joint frame (default: 0,0,0)
[in]_rel_attrelative orientation in joint frame (default: identity)
[in]_other_jointjoint to which the constraint is attached (default: world)

Definition at line 433 of file ik.h.

IKHandle::~IKHandle ( ) [inline]

Definition at line 474 of file ik.h.


Member Function Documentation

int IKHandle::calc_feedback ( ) [protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 72 of file handle.cpp.

int IKHandle::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 handle.cpp.

void IKHandle::GetAtt ( fMat33 _abs_att) [inline]

obtain constraint orientation

Definition at line 512 of file ik.h.

void IKHandle::GetConstIndex ( IK::ConstIndex  _cindex[]) [inline]

Definition at line 526 of file ik.h.

void IKHandle::GetPos ( fVec3 _abs_pos) [inline]

obtain constraint position

Definition at line 508 of file ik.h.

IK::ConstType IKHandle::GetType ( ) [inline, virtual]

Returns the constraint type.

Implements IKConstraint.

Definition at line 522 of file ik.h.

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

reset the constraint position/orientation by the current values

Reimplemented from IKConstraint.

Definition at line 478 of file ik.h.

void IKHandle::SetAtt ( const fMat33 _abs_att) [inline]

set the constraint orientation

Definition at line 503 of file ik.h.

void IKHandle::SetCharacterScale ( double  _scale,
const char *  charname = 0 
) [virtual]

Reimplemented from IKConstraint.

Definition at line 652 of file ik.cpp.

void IKHandle::SetPos ( const fVec3 _abs_pos) [inline]

set the constraint position

Definition at line 499 of file ik.h.

void IKHandle::SetRelPos ( const fVec3 _rel_pos) [inline]

set relative position of the constraint

Definition at line 517 of file ik.h.


Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 419 of file ik.h.


Member Data Documentation

current constraint orientation

Definition at line 541 of file ik.h.

fVec3 IKHandle::abs_pos [protected]

current constraint position

Definition at line 540 of file ik.h.

with/without constraint for each DOF

Definition at line 543 of file ik.h.

connected to other joint: constrains the relative position and/or orientation w.r.t. other_joint's frame

Definition at line 548 of file ik.h.

Definition at line 545 of file ik.h.

fVec3 IKHandle::rel_pos [protected]

Definition at line 544 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