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

#include <PinDragIK.h>

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

Public メソッド

 PinDragIK (BodyPtr body)
 ~PinDragIK ()
BodyPtr body () const
void setBaseLink (Link *baseLink)
void setFreeRootWeight (double translation, double rotation)
void setTargetLink (Link *targetLink, bool isAttitudeEnabled=false)
void setJointWeight (int jointId, double weight)
void setPin (Link *link, InverseKinematics::AxisSet axes=InverseKinematics::TRANSLATION_3D, double weight=1.0)
InverseKinematics::AxisSet pinAxes (Link *link)
void clearPins ()
int numPinnedLinks ()
virtual void setIKErrorThresh (double e)
virtual bool hasAnalyticalIK ()
virtual InverseKinematics::AxisSet targetAxes () const
void setSRInverseParameters (double k0, double w0)
void enableJointRangeConstraints (bool on)
bool initialize ()
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
- Public メソッド inherited from cnoid::InverseKinematics
virtual ~InverseKinematics ()
virtual AxisSet axisType () const

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

PinDragIK::PinDragIK ( BodyPtr  body)
PinDragIK::~PinDragIK ( )

関数

BodyPtr PinDragIK::body ( ) const
bool PinDragIK::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual

cnoid::InverseKinematicsを実装しています。

void PinDragIK::clearPins ( )
void PinDragIK::enableJointRangeConstraints ( bool  on)
bool PinDragIK::hasAnalyticalIK ( )
virtual
bool PinDragIK::initialize ( void  )

this must be called before the initial calcInverseKinematics() call after settings have been changed.

int PinDragIK::numPinnedLinks ( )
InverseKinematics::AxisSet PinDragIK::pinAxes ( Link link)
void PinDragIK::setBaseLink ( Link baseLink)
void PinDragIK::setFreeRootWeight ( double  translation,
double  rotation 
)
void PinDragIK::setIKErrorThresh ( double  e)
virtual
void PinDragIK::setJointWeight ( int  jointId,
double  weight 
)
void PinDragIK::setPin ( Link link,
InverseKinematics::AxisSet  axes = InverseKinematics::TRANSLATION_3D,
double  weight = 1.0 
)
void PinDragIK::setSRInverseParameters ( double  k0,
double  w0 
)
void PinDragIK::setTargetLink ( Link targetLink,
bool  isAttitudeEnabled = false 
)
InverseKinematics::AxisSet PinDragIK::targetAxes ( ) const
virtual

このクラスの説明は次のファイルから生成されました: