JointPathEx.h File Reference

#include <hrpModel/Body.h>
#include <hrpModel/Link.h>
#include <hrpModel/JointPath.h>
#include <cmath>
#include <coil/stringutil.h>
#include <iomanip>

Include dependency graph for JointPathEx.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	hrp::InvDynStateBuffer
class	hrp::JointPathEx
struct	hrp::VirtualForceSensorParam

Namespaces
	hrp

Typedefs
typedef boost::shared_ptr< JointPathEx >	hrp::JointPathExPtr

Functions
void	hrp::calcAccelerationsForInverseDynamics (const hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb)
void	hrp::calcRootLinkWrenchFromInverseDynamics (hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb, hrp::Vector3 &_f_ans, hrp::Vector3 &_t_ans)
int	hrp::calcSRInverse (const dmatrix &_a, dmatrix &_a_sr, double _sr_ratio, dmatrix _w)
void	hrp::calcWorldZMPFromInverseDynamics (hrp::BodyPtr _m_robot, InvDynStateBuffer &_idsb, hrp::Vector3 &_zmp_ans)
void	hrp::readInterlockingJointsParamFromProperties (std::vector< std::pair< Link *, Link * > > &pairs, hrp::BodyPtr m_robot, const std::string &prop_string, const std::string &instance_name)
void	hrp::readVirtualForceSensorParamFromProperties (std::map< std::string, hrp::VirtualForceSensorParam > &vfs, hrp::BodyPtr m_robot, const std::string &prop_string, const std::string &instance_name)
void	hrp::updateInvDynStateBuffer (InvDynStateBuffer &_idsb)