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

Desired joint values. More...

#include <ik.h>

Inheritance diagram for IKDesire:
Inheritance graph
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List of all members.

Public Member Functions

IK::ConstType GetType ()
 Returns the constraint type.
 IKDesire (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain)
int Reset ()
void SetCharacterScale (double _scale, const char *charname=0)
void SetDesire (double _q)
void SetDesire (const fMat33 &_att)
void SetDesire (const fVec3 &_pos, const fMat33 &_att)
void SetDesire (const fVec3 &_pos)
 ~IKDesire ()

Protected Member Functions

int calc_feedback ()
 compute the feedback velocity
int calc_jacobian_free (Joint *cur)
int calc_jacobian_rotate (Joint *cur)
int calc_jacobian_slide (Joint *cur)
int calc_jacobian_sphere (Joint *cur)

Protected Attributes

fMat33 att_des
 desired joint orientation for 3/6 DOF joints
fVec3 pos_des
 desired joint position for 6DOF joints
double q_des
 desired joint value for 1DOF joints

Friends

class IK

Detailed Description

Desired joint values.

Definition at line 555 of file ik.h.


Constructor & Destructor Documentation

IKDesire::IKDesire ( IK _ik,
const char *  _jname,
Joint _jnt,
IK::Priority  _pri,
double  _gain 
) [inline]

Definition at line 560 of file ik.h.

IKDesire::~IKDesire ( ) [inline]

Definition at line 593 of file ik.h.


Member Function Documentation

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

compute the feedback velocity

Implements IKConstraint.

Definition at line 65 of file desire.cpp.

int IKDesire::calc_jacobian_free ( Joint cur) [protected, virtual]

Reimplemented from IKConstraint.

Definition at line 48 of file desire.cpp.

int IKDesire::calc_jacobian_rotate ( Joint cur) [protected, virtual]

Reimplemented from IKConstraint.

Definition at line 16 of file desire.cpp.

int IKDesire::calc_jacobian_slide ( Joint cur) [protected, virtual]

Reimplemented from IKConstraint.

Definition at line 25 of file desire.cpp.

int IKDesire::calc_jacobian_sphere ( Joint cur) [protected, virtual]

Reimplemented from IKConstraint.

Definition at line 34 of file desire.cpp.

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

Returns the constraint type.

Implements IKConstraint.

Definition at line 618 of file ik.h.

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

Reimplemented from IKConstraint.

Definition at line 596 of file ik.h.

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

Reimplemented from IKConstraint.

Definition at line 674 of file ik.cpp.

void IKDesire::SetDesire ( double  _q) [inline]

Definition at line 622 of file ik.h.

void IKDesire::SetDesire ( const fMat33 _att) [inline]

Definition at line 625 of file ik.h.

void IKDesire::SetDesire ( const fVec3 _pos,
const fMat33 _att 
) [inline]

Definition at line 628 of file ik.h.

void IKDesire::SetDesire ( const fVec3 _pos) [inline]

Definition at line 632 of file ik.h.


Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 558 of file ik.h.


Member Data Documentation

desired joint orientation for 3/6 DOF joints

Definition at line 646 of file ik.h.

fVec3 IKDesire::pos_des [protected]

desired joint position for 6DOF joints

Definition at line 647 of file ik.h.

double IKDesire::q_des [protected]

desired joint value for 1DOF joints

Definition at line 645 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 Sun Apr 2 2017 03:43:59