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

Joint limit constraint for 1-DOF joints. More...

#include <ik.h>

Inheritance diagram for IKScalarJointLimit:
Inheritance graph
[legend]

List of all members.

Public Member Functions

double GetMax ()
double GetMin ()
IK::ConstType GetType ()
 Returns the constraint type.
 IKScalarJointLimit (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain)
void SetCharacterScale (double _scale, const char *charname=0)
void SetMax (double _q_max)
void SetMin (double _q_min)
 ~IKScalarJointLimit ()

Protected Member Functions

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

Protected Attributes

int max_limit
int min_limit
double q_max
double q_min

Friends

class IK

Detailed Description

Joint limit constraint for 1-DOF joints.

Definition at line 713 of file ik.h.


Constructor & Destructor Documentation

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

Definition at line 718 of file ik.h.

Definition at line 741 of file ik.h.


Member Function Documentation

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

compute the feedback velocity

Implements IKConstraint.

Definition at line 34 of file limit.cpp.

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

limit.cpp

Reimplemented from IKConstraint.

Definition at line 16 of file limit.cpp.

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

Reimplemented from IKConstraint.

Definition at line 25 of file limit.cpp.

double IKScalarJointLimit::GetMax ( ) [inline]

Definition at line 756 of file ik.h.

double IKScalarJointLimit::GetMin ( ) [inline]

Definition at line 759 of file ik.h.

Returns the constraint type.

Implements IKConstraint.

Definition at line 744 of file ik.h.

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

Reimplemented from IKConstraint.

Definition at line 59 of file limit.cpp.

void IKScalarJointLimit::SetMax ( double  _q_max) [inline]

Definition at line 748 of file ik.h.

void IKScalarJointLimit::SetMin ( double  _q_min) [inline]

Definition at line 752 of file ik.h.


Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 716 of file ik.h.


Member Data Documentation

Definition at line 770 of file ik.h.

Definition at line 770 of file ik.h.

double IKScalarJointLimit::q_max [protected]

Definition at line 771 of file ik.h.

double IKScalarJointLimit::q_min [protected]

Definition at line 771 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