#include <JointPath.h>
Definition at line 26 of file JointPath.h.
Definition at line 25 of file JointPath.cpp.
JointPath::JointPath | ( | Link * | base, |
Link * | end | ||
) |
Definition at line 31 of file JointPath.cpp.
JointPath::JointPath | ( | Link * | end | ) |
Definition at line 40 of file JointPath.cpp.
JointPath::~JointPath | ( | ) | [virtual] |
Definition at line 56 of file JointPath.cpp.
Link* hrp::JointPath::baseLink | ( | ) | const [inline] |
Definition at line 50 of file JointPath.h.
void hrp::JointPath::calcForwardKinematics | ( | bool | calcVelocity = false , |
bool | calcAcceleration = false |
||
) | const [inline] |
Definition at line 62 of file JointPath.h.
bool JointPath::calcInverseKinematics | ( | const Vector3 & | end_p, |
const Matrix33 & | end_R | ||
) | [virtual] |
Implements hrp::InverseKinematics.
Reimplemented in hrp::CustomizedJointPath.
Definition at line 200 of file JointPath.cpp.
bool JointPath::calcInverseKinematics | ( | const Vector3 & | base_p, |
const Matrix33 & | base_R, | ||
const Vector3 & | end_p, | ||
const Matrix33 & | end_R | ||
) |
Definition at line 186 of file JointPath.cpp.
void JointPath::calcJacobian | ( | dmatrix & | out_J | ) | const |
Definition at line 128 of file JointPath.cpp.
bool hrp::JointPath::empty | ( | void | ) | const [inline] |
Definition at line 38 of file JointPath.h.
Link* hrp::JointPath::endLink | ( | ) | const [inline] |
Definition at line 54 of file JointPath.h.
void JointPath::extractJoints | ( | ) | [private] |
Definition at line 83 of file JointPath.cpp.
bool JointPath::find | ( | Link * | base, |
Link * | end | ||
) |
Definition at line 62 of file JointPath.cpp.
bool JointPath::find | ( | Link * | end | ) |
Definition at line 73 of file JointPath.cpp.
bool JointPath::hasAnalyticalIK | ( | ) | [virtual] |
Reimplemented in hrp::CustomizedJointPath.
Definition at line 283 of file JointPath.cpp.
void JointPath::initialize | ( | void | ) | [private] |
Definition at line 49 of file JointPath.cpp.
bool hrp::JointPath::isJointDownward | ( | int | index | ) | const [inline] |
Definition at line 58 of file JointPath.h.
dmatrix hrp::JointPath::Jacobian | ( | ) | const [inline] |
Definition at line 68 of file JointPath.h.
Link* hrp::JointPath::joint | ( | int | index | ) | const [inline] |
Definition at line 46 of file JointPath.h.
unsigned int hrp::JointPath::numJoints | ( | ) | const [inline] |
Definition at line 42 of file JointPath.h.
void JointPath::onJointPathUpdated | ( | ) | [protected, virtual] |
Reimplemented in hrp::CustomizedJointPath.
Definition at line 122 of file JointPath.cpp.
void JointPath::setBestEffortIKMode | ( | bool | on | ) | [virtual] |
Definition at line 179 of file JointPath.cpp.
void JointPath::setMaxIKError | ( | double | e | ) | [virtual] |
Definition at line 173 of file JointPath.cpp.
bool hrp::JointPath::isBestEffortIKMode [protected] |
Definition at line 88 of file JointPath.h.
std::vector<Link*> hrp::JointPath::joints [private] |
Definition at line 96 of file JointPath.h.
LinkPath hrp::JointPath::linkPath [private] |
Definition at line 95 of file JointPath.h.
double hrp::JointPath::maxIKErrorSqr [protected] |
Definition at line 87 of file JointPath.h.
int hrp::JointPath::numUpwardJointConnections [private] |
Definition at line 97 of file JointPath.h.