Choreonoid  1.1
Public メソッド | Protected メソッド | Protected 変数 | すべてのメンバ一覧
クラス cnoid::JointPath

#include <JointPath.h>

cnoid::JointPathに対する継承グラフ
cnoid::InverseKinematics

Public メソッド

 JointPath ()
 JointPath (Link *base, Link *end)
 JointPath (Link *end)
virtual ~JointPath ()
bool find (Link *base, Link *end)
bool find (Link *end)
bool empty () const
int numJoints () const
Linkjoint (int index) const
LinkbaseLink () const
LinkendLink () const
bool isJointDownward (int index) const
void calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
void calcJacobian (Eigen::MatrixXd &out_J) const
void setMaxIKerror (double e)
void setBestEffortIKMode (bool on)
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
virtual bool hasAnalyticalIK () const
bool calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
- Public メソッド inherited from cnoid::InverseKinematics
virtual ~InverseKinematics ()
virtual AxisSet axisType () const

Protected メソッド

virtual void onJointPathUpdated ()

Protected 変数

double maxIKerrorSqr
bool isBestEffortIKMode

Additional Inherited Members

- Public 型 inherited from cnoid::InverseKinematics
enum  AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

コンストラクタとデストラクタ

JointPath::JointPath ( )
JointPath::JointPath ( Link base,
Link end 
)
JointPath::JointPath ( Link end)
JointPath::~JointPath ( )
virtual

関数

Link* cnoid::JointPath::baseLink ( ) const
inline
void cnoid::JointPath::calcForwardKinematics ( bool  calcVelocity = false,
bool  calcAcceleration = false 
) const
inline
bool JointPath::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual

cnoid::InverseKinematicsを実装しています。

bool JointPath::calcInverseKinematics ( const Vector3 base_p,
const Matrix3 base_R,
const Vector3 end_p,
const Matrix3 end_R 
)
void JointPath::calcJacobian ( Eigen::MatrixXd &  out_J) const
bool cnoid::JointPath::empty ( ) const
inline
Link* cnoid::JointPath::endLink ( ) const
inline
bool JointPath::find ( Link base,
Link end 
)
bool JointPath::find ( Link end)
bool JointPath::hasAnalyticalIK ( ) const
virtual
bool cnoid::JointPath::isJointDownward ( int  index) const
inline
Link* cnoid::JointPath::joint ( int  index) const
inline
int cnoid::JointPath::numJoints ( ) const
inline
void JointPath::onJointPathUpdated ( )
protectedvirtual
void JointPath::setBestEffortIKMode ( bool  on)
void JointPath::setMaxIKerror ( double  e)

変数

bool cnoid::JointPath::isBestEffortIKMode
protected
double cnoid::JointPath::maxIKerrorSqr
protected

このクラスの説明は次のファイルから生成されました: