Choreonoid  1.1
構成 | 型定義 | 列挙型 | 関数 | 変数
ネームスペース cnoid

構成

class  EasyScanner
class  ImageConverter
class  Interpolator
class  MultiAffine3Seq
class  MultiSeq
class  MultiValueSeq
class  PlainSeqFileLoader
class  RangeLimiter
class  Referenced
class  Seq
class  SeqBase
class  MultiSeqBase
class  TriangleMeshShaper
class  Triangulator
class  Vector3Seq
struct  SFTime
struct  SFImage
class  VrmlNode
 Abstract base class of all vrml nodes. [詳細]
class  VrmlUnsupportedNode
class  VrmlViewpoint
 VRML Viewpoint node. [詳細]
class  VrmlNavigationInfo
 VRML NavigationInfo node. [詳細]
class  VrmlBackground
 VRML Background node. [詳細]
class  AbstractVrmlGroup
class  VrmlGroup
 VRML Group node. [詳細]
class  VrmlTransform
 VRML Transform node. [詳細]
class  VrmlInline
 VRML Inline node. [詳細]
class  VrmlShape
 VRML Shape node. [詳細]
class  VrmlAppearance
 VRML Appearance node. [詳細]
class  VrmlMaterial
 VRML Material node. [詳細]
class  VrmlTexture
 Base class of VRML Texture nodes. [詳細]
class  VrmlImageTexture
 VRML ImageTexture node. [詳細]
class  VrmlTextureTransform
 VRML TextureTransform node. [詳細]
class  VrmlGeometry
 Base class of VRML geometry nodes. [詳細]
class  VrmlBox
 VRML Box node. [詳細]
class  VrmlCone
 VRML Cone node. [詳細]
class  VrmlCylinder
 VRML Cylinder node. [詳細]
class  VrmlSphere
 VRML Sphere node. [詳細]
class  VrmlFontStyle
 VRML FontStyle node. [詳細]
class  VrmlText
 VRML Text node. [詳細]
class  VrmlIndexedLineSet
 VRML IndexedLineSet node. [詳細]
class  VrmlIndexedFaceSet
 VRML IndexedFaseSet node. [詳細]
class  VrmlColor
 VRML Color node. [詳細]
class  VrmlCoordinate
 VRML Coordinate node. [詳細]
class  VrmlTextureCoordinate
 VRML TextureCoordinate node. [詳細]
class  VrmlNormal
 VRML Normal node. [詳細]
class  VrmlCylinderSensor
 VRML CylinderSensor node. [詳細]
class  VrmlPointSet
 VRML PointSet node. [詳細]
class  VrmlPixelTexture
 VRML PixelTexture node. [詳細]
class  VrmlMovieTexture
 VRML MovieTexture node. [詳細]
class  VrmlElevationGrid
 VRML ElevationGrid node. [詳細]
class  VrmlExtrusion
 VRML Extrusion node. [詳細]
class  VrmlSwitch
class  VrmlLOD
class  VrmlCollision
class  VrmlAnchor
class  VrmlBillboard
class  VrmlFog
class  VrmlWorldInfo
class  VrmlPointLight
class  VrmlDirectionalLight
class  VrmlSpotLight
class  VrmlProto
 VRML Proto definition. [詳細]
class  VrmlProtoInstance
 VRML node which is instance of VRML Prototype. [詳細]
class  VrmlParser
 Parser for VRML97 format. [詳細]
class  VrmlWriter
class  YamlNode
class  YamlScalar
class  YamlCollection
class  YamlMapping
class  YamlSequence
class  YamlReader
class  YamlWriter
struct  BodyHandleEntity
class  Body
struct  BodyInterface
struct  BodyCustomizerInterface
class  BodyLoader
class  BodyMotion
class  BodyMotionPoseProvider
class  SymmetricPoseChanger
class  ColdetLinkPair
class  CompositeIK
class  ConstraintForceSolver
class  ForwardDynamics
class  ForwardDynamicsABM
class  ForwardDynamicsMM
class  InverseKinematics
class  JointPath
class  LeggedBody
class  Link
class  LinkGroup
class  LinkPath
class  LinkTraverse
class  JointNodeSet
class  ModelNodeSet
class  PenetrationBlocker
class  PinDragIK
class  PoseProvider
class  PoseProviderToBodyMotionConverter
class  Sensor
class  ForceSensor
class  RateGyroSensor
class  AccelSensor
class  RangeSensor
class  WorldBase
class  World
class  ColdetModel
class  ColdetModelPair
class  ColdetModelSharedDataSet
class  collision_data
class  CollisionPairInserter
class  BodyBar
class  BodyItem
class  BodyLinkView
class  BodyMotionItem
class  DynamicsSimulatorItem
class  JointSliderView
class  KinematicFaultChecker
class  KinematicsBar
class  KinematicsSimulatorItem
class  LinkSelectionView
class  LinkTreeItem
class  LinkTreeWidget
class  MultiAffine3SeqGraphView
class  MultiValueSeqGraphView
class  OsgCollision
class  SceneBody
class  SceneBodyManager
class  SceneWorld
class  SceneWorldManager
class  SimulationBar
class  SimulatorItem
class  WorldItem
class  WorldView

型定義

typedef boost::shared_ptr
< EasyScanner
EasyScannerPtr
typedef Eigen::Matrix2d Matrix2
typedef Eigen::Vector2d Vector2
typedef Eigen::Matrix3d Matrix3
typedef Eigen::Vector3d Vector3
typedef Eigen::Matrix4d Matrix4
typedef Eigen::Vector4d Vector4
typedef Eigen::Affine3d Affine3
typedef MultiAffine3Seq::Ptr MultiAffine3SeqPtr
typedef MultiValueSeq::Ptr MultiValueSeqPtr
typedef boost::intrusive_ptr
< Referenced
ReferencedPtr
typedef boost::shared_ptr
< SeqBase
SeqBasePtr
typedef boost::shared_ptr
< MultiSeqBase
MultiSeqBasePtr
typedef boost::shared_ptr
< Vector3Seq
Vector3SeqPtr
typedef bool SFBool
typedef int SFInt32
typedef double SFFloat
typedef std::string SFString
typedef Eigen::Vector2d SFVec2f
typedef Eigen::Vector3d SFVec3f
typedef Eigen::Array3f SFColor
typedef Eigen::AngleAxisd SFRotation
typedef std::vector< SFInt32MFInt32
typedef std::vector< SFFloatMFFloat
typedef std::vector< SFVec2f,
Eigen::aligned_allocator
< SFVec2f > > 
MFVec2f
typedef std::vector< SFVec3fMFVec3f
typedef std::vector< SFRotationMFRotation
typedef std::vector< SFTimeMFTime
typedef std::vector< SFColorMFColor
typedef std::vector< SFStringMFString
typedef boost::intrusive_ptr
< VrmlNode
VrmlNodePtr
typedef VrmlNodePtr SFNode
typedef std::vector< SFNodeMFNode
typedef boost::intrusive_ptr
< VrmlUnsupportedNode
VrmlUnsupportedNodePtr
typedef boost::intrusive_ptr
< VrmlViewpoint
VrmlViewpointPtr
typedef boost::intrusive_ptr
< VrmlNavigationInfo
VrmlNavigationInfoPtr
typedef boost::intrusive_ptr
< VrmlBackground
VrmlBackgroundPtr
typedef boost::intrusive_ptr
< AbstractVrmlGroup
AbstractVrmlGroupPtr
typedef boost::intrusive_ptr
< VrmlGroup
VrmlGroupPtr
typedef boost::intrusive_ptr
< VrmlTransform
VrmlTransformPtr
typedef boost::intrusive_ptr
< VrmlInline
VrmlInlinePtr
typedef boost::intrusive_ptr
< VrmlAppearance
VrmlAppearancePtr
typedef boost::intrusive_ptr
< VrmlGeometry
VrmlGeometryPtr
typedef boost::intrusive_ptr
< VrmlShape
VrmlShapePtr
typedef boost::intrusive_ptr
< VrmlMaterial
VrmlMaterialPtr
typedef boost::intrusive_ptr
< VrmlTexture
VrmlTexturePtr
typedef boost::intrusive_ptr
< VrmlTextureTransform
VrmlTextureTransformPtr
typedef boost::intrusive_ptr
< VrmlImageTexture
VrmlImageTexturePtr
typedef boost::intrusive_ptr
< VrmlBox
VrmlBoxPtr
typedef boost::intrusive_ptr
< VrmlCone
VrmlConePtr
typedef boost::intrusive_ptr
< VrmlCylinder
VrmlCylinderPtr
typedef boost::intrusive_ptr
< VrmlSphere
VrmlSpherePtr
typedef boost::intrusive_ptr
< VrmlFontStyle
VrmlFontStylePtr
typedef boost::intrusive_ptr
< VrmlText
VrmlTextPtr
typedef boost::intrusive_ptr
< VrmlColor
VrmlColorPtr
typedef boost::intrusive_ptr
< VrmlCoordinate
VrmlCoordinatePtr
typedef boost::intrusive_ptr
< VrmlIndexedLineSet
VrmlIndexedLineSetPtr
typedef boost::intrusive_ptr
< VrmlNormal
VrmlNormalPtr
typedef boost::intrusive_ptr
< VrmlTextureCoordinate
VrmlTextureCoordinatePtr
typedef boost::intrusive_ptr
< VrmlIndexedFaceSet
VrmlIndexedFaceSetPtr
typedef boost::intrusive_ptr
< VrmlCylinderSensor
VrmlCylinderSensorPtr
typedef boost::intrusive_ptr
< VrmlPointSet
VrmlPointSetPtr
typedef boost::intrusive_ptr
< VrmlPixelTexture
VrmlPixelTexturePtr
typedef boost::intrusive_ptr
< VrmlMovieTexture
VrmlMovieTexturePtr
typedef boost::intrusive_ptr
< VrmlElevationGrid
VrmlElevationGridPtr
typedef boost::intrusive_ptr
< VrmlExtrusion
VrmlExtrusionPtr
typedef boost::intrusive_ptr
< VrmlSwitch
VrmlSwitchPtr
typedef boost::intrusive_ptr
< VrmlLOD
VrmlLODPtr
typedef boost::intrusive_ptr
< VrmlCollision
VrmlCollisionPtr
typedef boost::intrusive_ptr
< VrmlAnchor
VrmlAnchorPtr
typedef boost::intrusive_ptr
< VrmlBillboard
VrmlBillboardPtr
typedef boost::intrusive_ptr
< VrmlFog
VrmlFogPtr
typedef boost::intrusive_ptr
< VrmlWorldInfo
VrmlWorldInfoPtr
typedef boost::intrusive_ptr
< VrmlPointLight
VrmlPointLightPtr
typedef boost::intrusive_ptr
< VrmlDirectionalLight
VrmlDirectionalLightPtr
typedef boost::intrusive_ptr
< VrmlSpotLight
VrmlSpotLightPtr
typedef boost::variant< SFBool,
SFInt32, SFFloat, SFVec2f,
SFVec3f, SFRotation, SFColor,
SFTime, SFString, SFNode,
SFImage, MFInt32, MFFloat,
MFVec2f, MFVec3f, MFRotation,
MFColor, MFTime, MFString,
MFNode
VrmlVariantField
typedef std::map< std::string,
VrmlVariantField
TProtoFieldMap
typedef std::pair< std::string,
VrmlVariantField
TProtoFieldPair
typedef boost::intrusive_ptr
< VrmlProto
VrmlProtoPtr
typedef boost::intrusive_ptr
< VrmlProtoInstance
VrmlProtoInstancePtr
typedef boost::intrusive_ptr
< YamlNode
YamlNodePtr
typedef boost::intrusive_ptr
< YamlMapping
YamlMappingPtr
typedef boost::intrusive_ptr
< YamlSequence
YamlSequencePtr
typedef boost::intrusive_ptr
< Body
BodyPtr
typedef boost::shared_ptr
< JointPath
JointPathPtr
typedef boost::shared_ptr
< InverseKinematics
InverseKinematicsPtr
typedef void * BodyHandle
typedef void * BodyCustomizerHandle
typedef int(* BodyGetLinkIndexFromNameFunc )(BodyHandle bodyHandle, const char *linkName)
typedef const char *(* BodyGetLinkNameFunc )(BodyHandle bodyHandle, int linkIndex)
typedef double *(* BodyGetLinkDoubleValuePtrFunc )(BodyHandle bodyHandle, int linkIndex)
typedef const char **(* BodyCustomizerGetTargetModelNamesFunc )()
typedef BodyCustomizerHandle(* BodyCustomizerCreateFunc )(BodyHandle bodyHandle, const char *modelName)
typedef void(* BodyCustomizerDestroyFunc )(BodyCustomizerHandle customizerHandle)
typedef int(* BodyCustomizerInitializeAnalyticIkFunc )(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
typedef bool(* BodyCustomizerCalcAnalyticIkFunc )(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)
typedef void(* BodyCustomizerSetVirtualJointForcesFunc )(BodyCustomizerHandle customizerHandle)
typedef BodyCustomizerInterface *(* GetBodyCustomizerInterfaceFunc )(BodyInterface *bodyInterface)
typedef boost::shared_ptr
< ModelNodeSet
ModelNodeSetPtr
typedef boost::shared_ptr
< BodyMotion
BodyMotionPtr
typedef boost::intrusive_ptr
< ColdetLinkPair
ColdetLinkPairPtr
typedef boost::shared_ptr
< CompositeIK
CompositeIKptr
typedef boost::shared_ptr
< ForwardDynamics
ForwardDynamicsPtr
typedef boost::shared_ptr
< ForwardDynamicsMM
ForwardDynamicsMMPtr
typedef boost::intrusive_ptr
< LeggedBody
LeggedBodyPtr
typedef boost::intrusive_ptr
< LinkGroup
LinkGroupPtr
typedef boost::shared_ptr
< JointNodeSet
JointNodeSetPtr
typedef std::vector
< JointNodeSetPtr
JointNodeSetArray
typedef boost::shared_ptr
< PenetrationBlocker
PenetrationBlockerPtr
typedef boost::shared_ptr
< PinDragIK
PinDragIKptr
typedef boost::intrusive_ptr
< ColdetModel
ColdetModelPtr
typedef boost::intrusive_ptr
< ColdetModelPair
ColdetModelPairPtr
typedef boost::intrusive_ptr
< BodyItem
BodyItemPtr
typedef boost::intrusive_ptr
< BodyMotionItem
BodyMotionItemPtr
typedef boost::intrusive_ptr
< DynamicsSimulatorItem
DynamicsSimulatorItemPtr
typedef boost::intrusive_ptr
< KinematicsSimulatorItem
KinematicsSimulatorItemPtr
typedef osg::ref_ptr< SceneBodySceneBodyPtr
typedef osg::ref_ptr< SceneWorldSceneWorldPtr
typedef boost::intrusive_ptr
< SimulatorItem
SimulatorItemPtr
typedef boost::intrusive_ptr
< WorldItem
WorldItemPtr

列挙型

enum  {
  LEFT, TOP, FRONT, BOTTOM,
  RIGHT, BACK
}
enum  VrmlNodeCategory {
  ANY_NODE = -1, PROTO_DEF_NODE = 0, PROTO_INSTANCE_NODE, TOP_NODE,
  BINDABLE_NODE, GROUPING_NODE, CHILD_NODE, APPEARANCE_NODE,
  MATERIAL_NODE, TEXTURE_NODE, TEXTURE_TRANSFORM_NODE, SHAPE_NODE,
  GEOMETRY_NODE, COORDINATE_NODE, COLOR_NODE, NORMAL_NODE,
  TEXTURE_COORDINATE_NODE, FONT_STYLE_NODE, SENSOR_NODE, INLINE_NODE,
  NUM_VRML_NODE_CATEGORIES
}
enum  VrmlFieldTypeId {
  SFBOOL, SFINT32, SFFLOAT, SFVEC2F,
  SFVEC3F, SFROTATION, SFCOLOR, SFTIME,
  SFSTRING, SFNODE, SFIMAGE, MFINT32,
  MFFLOAT, MFVEC2F, MFVEC3F, MFROTATION,
  MFCOLOR, MFTIME, MFSTRING, MFNODE,
  UNKNOWN_VRML_FIELD_TYPE
}
enum  YamlNodeType {
  YAML_NONE = 0, YAML_MAPPING, YAML_SEQUENCE, YAML_SCALAR,
  YAML_LF
}
enum  YamlStringStyle {
  YAML_PLAIN_STRING, YAML_SINGLE_QUOTED, YAML_DOUBLE_QUOTED, YAML_LITERAL,
  YAML_FOLDED
}

関数

CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, double &value)
CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, int &value)
CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, const char *matchString)
CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, char matchChar)
CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, std::string &str)
CNOID_EXPORT EasyScanneroperator>> (EasyScanner &scanner, EasyScanner::Endl endl)
Matrix3 rotFromRpy (double r, double p, double y)
Vector3 omegaFromRot (const Matrix3 &R)
double degree (double rad)
double radian (double deg)
template<typename Derived >
Eigen::Matrix< typename
Eigen::MatrixBase< Derived >
::Scalar, 3, 1 > 
rpyFromRot (const Eigen::MatrixBase< Derived > &R)
Matrix3 rotFromRpy (const Vector3 &rpy)
Matrix3 hat (const Vector3 &x)
template<typename Derived >
bool read (const YamlMapping &mapping, const std::string &key, Eigen::MatrixBase< Derived > &x)
template<typename Derived >
void readEx (const YamlMapping &mapping, const std::string &key, Eigen::MatrixBase< Derived > &x)
template<typename Derived >
YamlSequencewrite (YamlMapping &mapping, const std::string &key, const Eigen::MatrixBase< Derived > &x)
void makePathCompact (const filesystem::path &path, filesystem::path &out_compact)
bool findSubDirectory (const filesystem::path &directory, const filesystem::path &path, filesystem::path &out_subdirectory)
bool findRelativePath (const filesystem::path &from_, const filesystem::path &to, filesystem::path &out_relativePath)
CNOID_EXPORT void makePathCompact (const boost::filesystem::path &path, boost::filesystem::path &out_compact)
CNOID_EXPORT bool findSubDirectory (const boost::filesystem::path &directory, const boost::filesystem::path &path, boost::filesystem::path &out_subdirectory)
CNOID_EXPORT bool findRelativePath (const boost::filesystem::path &from, const boost::filesystem::path &to, boost::filesystem::path &out_relativePath)
const std::string & toActualPathName (const std::string &pathName)
template<class T >
void setGaussWindow (T sigma, int range, std::vector< T > &out_window)
template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void applyGaussianFilter (RESULTVECTOR &result, const SRCVECTOR &src, std::vector< T > &gwin, ELEMENT zero)
template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void applyGaussianFilter (RESULTVECTOR &result, const SRCVECTOR &src, T sigma, int range, ELEMENT zero)
std::ostream & nullout ()
void intrusive_ptr_add_ref (cnoid::Referenced *obj)
void intrusive_ptr_release (cnoid::Referenced *obj)
void msleep (int msec)
void usleep (int usec)
const std::string & toUtf8 (const std::string &text)
const std::string & fromUtf8 (const std::string &text)
const std::string toUtf8 (const char *text)
const std::string fromUtf8 (const char *text)
void intrusive_ptr_add_ref (VrmlNode *obj)
void intrusive_ptr_release (VrmlNode *obj)
template<typename TValue >
int vrmlFieldTypeId ()
template<>
int vrmlFieldTypeId< SFInt32 > ()
template<>
int vrmlFieldTypeId< MFInt32 > ()
template<>
int vrmlFieldTypeId< SFFloat > ()
template<>
int vrmlFieldTypeId< MFFloat > ()
template<>
int vrmlFieldTypeId< SFVec3f > ()
template<>
int vrmlFieldTypeId< MFVec3f > ()
template<>
int vrmlFieldTypeId< SFRotation > ()
template<>
int vrmlFieldTypeId< MFRotation > ()
template<>
int vrmlFieldTypeId< SFTime > ()
template<>
int vrmlFieldTypeId< MFTime > ()
template<>
int vrmlFieldTypeId< SFColor > ()
template<>
int vrmlFieldTypeId< MFColor > ()
template<>
int vrmlFieldTypeId< SFString > ()
template<>
int vrmlFieldTypeId< MFString > ()
template<>
int vrmlFieldTypeId< SFNode > ()
template<>
int vrmlFieldTypeId< MFNode > ()
template<>
int vrmlFieldTypeId< SFImage > ()
CNOID_EXPORT const char * labelOfVrmlFieldTypeId (int type)
template<typename TValue >
const char * labelOfVrmlFieldType ()
template<class VrmlNodeType >
boost::intrusive_ptr
< VrmlNodeType > 
dynamic_node_cast (VrmlNodePtr node)
void intrusive_ptr_add_ref (cnoid::YamlNode *obj)
void intrusive_ptr_release (cnoid::YamlNode *obj)
CNOID_EXPORT int loadBodyCustomizers (const std::string pathString, BodyInterface *bodyInterface)
CNOID_EXPORT int loadBodyCustomizers (const std::string pathString)
CNOID_EXPORT int loadBodyCustomizers (BodyInterface *bodyInterface)
CNOID_EXPORT int loadBodyCustomizers ()
CNOID_EXPORT
BodyCustomizerInterface
findBodyCustomizer (std::string modelName)
BodyMotion::Frameoperator>> (const BodyMotion::Frame &frame, const Body &body)
CNOID_EXPORT bool loadHrpsysSeqFileSet (BodyMotion &motion, const std::string &filename, std::ostream &os)
CNOID_EXPORT bool saveHrpsysSeqFileSet (BodyMotion &motion, BodyPtr body, const std::string &filename, std::ostream &os)
CNOID_EXPORT void calcLinkAccSeq (MultiAffine3Seq &linkPosSeq, Sensor *gsens, int frameBegin, int numFrames, Vector3Seq &out_accSeq)
CNOID_EXPORT bool applyVelocityLimitFilter (MultiValueSeq &seq, BodyPtr body, std::ostream &os=nullout())
CNOID_EXPORT bool applyVelocityLimitFilter2 (MultiValueSeq &seq, int part, double absLimit)
CNOID_EXPORT bool applyVelocityLimitFilterDummy ()
CNOID_EXPORT bool applyPollardVelocityLimitFilter (MultiValueSeq &seq, BodyPtr body, double ks, std::ostream &os=nullout())
CNOID_EXPORT void applyGaussianFilter (MultiValueSeq &seq, double sigma, int range, std::ostream &os=nullout())
CNOID_EXPORT void applyRangeLimitFilter (MultiValueSeq &seq, BodyPtr body, double limitGrad, double edgeGradRatio, double margin, std::ostream &os=nullout())
void calcInverseDynamics (const BodyPtr &body, Link *ptr, Vector3 &out_f, Vector3 &out_tau)
void calcCMJacobian (const BodyPtr &body, Link *base, Eigen::MatrixXd &J)
 compute CoM Jacobian
CNOID_EXPORT void calcCmJacobian (const BodyPtr &body, Link *base, Eigen::MatrixXd &J)
CNOID_EXPORT void calcMassMatrix (const BodyPtr &body, MatrixXd &out_M)
HRP_UTIL_EXPORT
OpenHRP::OnlineViewer_var 
getOnlineViewer (int argc, char **argv)
HRP_UTIL_EXPORT
OpenHRP::OnlineViewer_var 
getOnlineViewer (CORBA_ORB_var orb)
void initializeBodyItem (ExtensionManager &ext)
void initializeBodyMotionEngine (ExtensionManager &em)
void initializeBodyMotionItem (ExtensionManager &ext)
void initializeDynamicsSimulatorItem (ExtensionManager &ext)
void initializeFilterDialogs (ExtensionManager &ext)
void initializeKinematicsSimulatorItem (ExtensionManager &ext)
void initializeWorldItem (ExtensionManager &ext)

変数

const double PI = 3.14159265358979323846
const double PI_2 = 1.57079632679489661923

説明

作者
Shin'ichiro Nakaoka
Shin'ichiro Nakaoka
Shin'ichiro NAKAOKA

型定義

typedef boost::intrusive_ptr<AbstractVrmlGroup> cnoid::AbstractVrmlGroupPtr
typedef Eigen::Affine3d cnoid::Affine3
typedef bool(* cnoid::BodyCustomizerCalcAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)
typedef BodyCustomizerHandle(* cnoid::BodyCustomizerCreateFunc)(BodyHandle bodyHandle, const char *modelName)
typedef void(* cnoid::BodyCustomizerDestroyFunc)(BodyCustomizerHandle customizerHandle)
typedef const char**(* cnoid::BodyCustomizerGetTargetModelNamesFunc)()
typedef int(* cnoid::BodyCustomizerInitializeAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
typedef void(* cnoid::BodyCustomizerSetVirtualJointForcesFunc)(BodyCustomizerHandle customizerHandle)
typedef double*(* cnoid::BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle, int linkIndex)
typedef int(* cnoid::BodyGetLinkIndexFromNameFunc)(BodyHandle bodyHandle, const char *linkName)
typedef const char*(* cnoid::BodyGetLinkNameFunc)(BodyHandle bodyHandle, int linkIndex)
typedef void * cnoid::BodyHandle
typedef boost::intrusive_ptr<BodyItem> cnoid::BodyItemPtr
typedef boost::intrusive_ptr<BodyMotionItem> cnoid::BodyMotionItemPtr
typedef boost::shared_ptr<BodyMotion> cnoid::BodyMotionPtr
typedef boost::intrusive_ptr< Body > cnoid::BodyPtr
typedef boost::intrusive_ptr<ColdetLinkPair> cnoid::ColdetLinkPairPtr
typedef boost::intrusive_ptr<ColdetModelPair> cnoid::ColdetModelPairPtr
typedef boost::intrusive_ptr<ColdetModel> cnoid::ColdetModelPtr
typedef boost::shared_ptr<CompositeIK> cnoid::CompositeIKptr
typedef boost::shared_ptr<EasyScanner> cnoid::EasyScannerPtr
typedef boost::shared_ptr<ForwardDynamicsMM> cnoid::ForwardDynamicsMMPtr
typedef boost::shared_ptr<ForwardDynamics> cnoid::ForwardDynamicsPtr
typedef BodyCustomizerInterface*(* cnoid::GetBodyCustomizerInterfaceFunc)(BodyInterface *bodyInterface)
typedef boost::shared_ptr< InverseKinematics > cnoid::InverseKinematicsPtr
typedef boost::shared_ptr<JointNodeSet> cnoid::JointNodeSetPtr
typedef boost::shared_ptr< JointPath > cnoid::JointPathPtr
typedef boost::intrusive_ptr<LeggedBody> cnoid::LeggedBodyPtr
typedef boost::intrusive_ptr<LinkGroup> cnoid::LinkGroupPtr
typedef Eigen::Matrix2d cnoid::Matrix2
typedef Eigen::Matrix3d cnoid::Matrix3
typedef Eigen::Matrix4d cnoid::Matrix4
typedef std::vector<SFColor> cnoid::MFColor
typedef std::vector<SFFloat> cnoid::MFFloat
typedef std::vector<SFInt32> cnoid::MFInt32
typedef std::vector<SFNode> cnoid::MFNode
typedef std::vector<SFRotation> cnoid::MFRotation
typedef std::vector<SFString> cnoid::MFString
typedef std::vector<SFTime> cnoid::MFTime
typedef std::vector<SFVec2f, Eigen::aligned_allocator<SFVec2f> > cnoid::MFVec2f
typedef std::vector<SFVec3f> cnoid::MFVec3f
typedef boost::shared_ptr< ModelNodeSet > cnoid::ModelNodeSetPtr
typedef boost::shared_ptr<MultiSeqBase> cnoid::MultiSeqBasePtr
typedef boost::shared_ptr< PenetrationBlocker > cnoid::PenetrationBlockerPtr
typedef boost::shared_ptr< PinDragIK > cnoid::PinDragIKptr
typedef boost::intrusive_ptr<Referenced> cnoid::ReferencedPtr
typedef osg::ref_ptr<SceneBody> cnoid::SceneBodyPtr
typedef osg::ref_ptr<SceneWorld> cnoid::SceneWorldPtr
typedef boost::shared_ptr<SeqBase> cnoid::SeqBasePtr
typedef bool cnoid::SFBool
typedef Eigen::Array3f cnoid::SFColor
typedef double cnoid::SFFloat
typedef int cnoid::SFInt32
typedef Eigen::AngleAxisd cnoid::SFRotation
typedef std::string cnoid::SFString
typedef Eigen::Vector2d cnoid::SFVec2f
typedef Eigen::Vector3d cnoid::SFVec3f
typedef boost::intrusive_ptr<SimulatorItem> cnoid::SimulatorItemPtr
typedef std::map<std::string, VrmlVariantField> cnoid::TProtoFieldMap
typedef std::pair<std::string, VrmlVariantField> cnoid::TProtoFieldPair
typedef Eigen::Vector2d cnoid::Vector2
typedef Eigen::Vector3d cnoid::Vector3
typedef boost::shared_ptr<Vector3Seq> cnoid::Vector3SeqPtr
typedef Eigen::Vector4d cnoid::Vector4
typedef boost::intrusive_ptr<VrmlAnchor> cnoid::VrmlAnchorPtr
typedef boost::intrusive_ptr<VrmlAppearance> cnoid::VrmlAppearancePtr
typedef boost::intrusive_ptr<VrmlBackground> cnoid::VrmlBackgroundPtr
typedef boost::intrusive_ptr<VrmlBillboard> cnoid::VrmlBillboardPtr
typedef boost::intrusive_ptr<VrmlBox> cnoid::VrmlBoxPtr
typedef boost::intrusive_ptr<VrmlCollision> cnoid::VrmlCollisionPtr
typedef boost::intrusive_ptr<VrmlColor> cnoid::VrmlColorPtr
typedef boost::intrusive_ptr<VrmlCone> cnoid::VrmlConePtr
typedef boost::intrusive_ptr<VrmlCoordinate> cnoid::VrmlCoordinatePtr
typedef boost::intrusive_ptr<VrmlCylinder> cnoid::VrmlCylinderPtr
typedef boost::intrusive_ptr<VrmlCylinderSensor> cnoid::VrmlCylinderSensorPtr
typedef boost::intrusive_ptr<VrmlElevationGrid> cnoid::VrmlElevationGridPtr
typedef boost::intrusive_ptr<VrmlExtrusion> cnoid::VrmlExtrusionPtr
typedef boost::intrusive_ptr<VrmlFog> cnoid::VrmlFogPtr
typedef boost::intrusive_ptr<VrmlFontStyle> cnoid::VrmlFontStylePtr
typedef boost::intrusive_ptr<VrmlGeometry> cnoid::VrmlGeometryPtr
typedef boost::intrusive_ptr<VrmlGroup> cnoid::VrmlGroupPtr
typedef boost::intrusive_ptr<VrmlImageTexture> cnoid::VrmlImageTexturePtr
typedef boost::intrusive_ptr<VrmlIndexedFaceSet> cnoid::VrmlIndexedFaceSetPtr
typedef boost::intrusive_ptr<VrmlIndexedLineSet> cnoid::VrmlIndexedLineSetPtr
typedef boost::intrusive_ptr<VrmlInline> cnoid::VrmlInlinePtr
typedef boost::intrusive_ptr<VrmlLOD> cnoid::VrmlLODPtr
typedef boost::intrusive_ptr<VrmlMaterial> cnoid::VrmlMaterialPtr
typedef boost::intrusive_ptr<VrmlMovieTexture> cnoid::VrmlMovieTexturePtr
typedef boost::intrusive_ptr<VrmlNavigationInfo> cnoid::VrmlNavigationInfoPtr
typedef boost::intrusive_ptr<VrmlNode> cnoid::VrmlNodePtr
typedef boost::intrusive_ptr<VrmlNormal> cnoid::VrmlNormalPtr
typedef boost::intrusive_ptr<VrmlPixelTexture> cnoid::VrmlPixelTexturePtr
typedef boost::intrusive_ptr<VrmlPointLight> cnoid::VrmlPointLightPtr
typedef boost::intrusive_ptr<VrmlPointSet> cnoid::VrmlPointSetPtr
typedef boost::intrusive_ptr<VrmlProtoInstance> cnoid::VrmlProtoInstancePtr
typedef boost::intrusive_ptr<VrmlProto> cnoid::VrmlProtoPtr
typedef boost::intrusive_ptr<VrmlShape> cnoid::VrmlShapePtr
typedef boost::intrusive_ptr<VrmlSphere> cnoid::VrmlSpherePtr
typedef boost::intrusive_ptr<VrmlSpotLight> cnoid::VrmlSpotLightPtr
typedef boost::intrusive_ptr<VrmlSwitch> cnoid::VrmlSwitchPtr
typedef boost::intrusive_ptr<VrmlText> cnoid::VrmlTextPtr
typedef boost::intrusive_ptr<VrmlTexture> cnoid::VrmlTexturePtr
typedef boost::intrusive_ptr<VrmlTransform> cnoid::VrmlTransformPtr
typedef boost::intrusive_ptr<VrmlUnsupportedNode> cnoid::VrmlUnsupportedNodePtr
typedef boost::intrusive_ptr<VrmlViewpoint> cnoid::VrmlViewpointPtr
typedef boost::intrusive_ptr<VrmlWorldInfo> cnoid::VrmlWorldInfoPtr
typedef boost::intrusive_ptr<WorldItem> cnoid::WorldItemPtr
typedef boost::intrusive_ptr< YamlMapping > cnoid::YamlMappingPtr
typedef boost::intrusive_ptr<YamlNode> cnoid::YamlNodePtr
typedef boost::intrusive_ptr<YamlSequence> cnoid::YamlSequencePtr

列挙型

anonymous enum
列挙型の値:
LEFT 
TOP 
FRONT 
BOTTOM 
RIGHT 
BACK 
列挙型の値:
SFBOOL 
SFINT32 
SFFLOAT 
SFVEC2F 
SFVEC3F 
SFROTATION 
SFCOLOR 
SFTIME 
SFSTRING 
SFNODE 
SFIMAGE 
MFINT32 
MFFLOAT 
MFVEC2F 
MFVEC3F 
MFROTATION 
MFCOLOR 
MFTIME 
MFSTRING 
MFNODE 
UNKNOWN_VRML_FIELD_TYPE 
列挙型の値:
ANY_NODE 
PROTO_DEF_NODE 
PROTO_INSTANCE_NODE 
TOP_NODE 
BINDABLE_NODE 
GROUPING_NODE 
CHILD_NODE 
APPEARANCE_NODE 
MATERIAL_NODE 
TEXTURE_NODE 
TEXTURE_TRANSFORM_NODE 
SHAPE_NODE 
GEOMETRY_NODE 
COORDINATE_NODE 
COLOR_NODE 
NORMAL_NODE 
TEXTURE_COORDINATE_NODE 
FONT_STYLE_NODE 
SENSOR_NODE 
INLINE_NODE 
NUM_VRML_NODE_CATEGORIES 
列挙型の値:
YAML_NONE 
YAML_MAPPING 
YAML_SEQUENCE 
YAML_SCALAR 
YAML_LF 
列挙型の値:
YAML_PLAIN_STRING 
YAML_SINGLE_QUOTED 
YAML_DOUBLE_QUOTED 
YAML_LITERAL 
YAML_FOLDED 

関数

void cnoid::applyGaussianFilter ( MultiValueSeq seq,
double  sigma,
int  range,
std::ostream &  os = nullout() 
)
template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void cnoid::applyGaussianFilter ( RESULTVECTOR &  result,
const SRCVECTOR &  src,
std::vector< T > &  gwin,
ELEMENT  zero 
)
template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void cnoid::applyGaussianFilter ( RESULTVECTOR &  result,
const SRCVECTOR &  src,
sigma,
int  range,
ELEMENT  zero 
)
bool cnoid::applyPollardVelocityLimitFilter ( MultiValueSeq seq,
BodyPtr  body,
double  ks,
std::ostream &  os = nullout() 
)
void cnoid::applyRangeLimitFilter ( MultiValueSeq seq,
BodyPtr  body,
double  limitGrad,
double  edgeGradRatio,
double  margin,
std::ostream &  os = nullout() 
)
bool cnoid::applyVelocityLimitFilter ( MultiValueSeq seq,
BodyPtr  body,
std::ostream &  os = nullout() 
)
bool cnoid::applyVelocityLimitFilter2 ( MultiValueSeq seq,
int  part,
double  absLimit 
)
bool cnoid::applyVelocityLimitFilterDummy ( )
CNOID_EXPORT void cnoid::calcCmJacobian ( const BodyPtr &  body,
Link *  base,
Eigen::MatrixXd &  J 
)
void cnoid::calcCMJacobian ( const BodyPtr &  body,
Link *  base,
Eigen::MatrixXd &  J 
)

compute CoM Jacobian

引数
baselink fixed to the environment
JCoM Jacobian
覚え書き
Link::wc must be computed by calcCM() before calling
CNOID_EXPORT void cnoid::calcInverseDynamics ( const BodyPtr body,
Link ptr,
Vector3 out_f,
Vector3 out_tau 
)
void cnoid::calcLinkAccSeq ( MultiAffine3Seq linkPosSeq,
Sensor gsens,
int  frameBegin,
int  numFrames,
Vector3Seq out_accSeq 
)
CNOID_EXPORT void cnoid::calcMassMatrix ( const BodyPtr &  body,
MatrixXd &  out_M 
)
double cnoid::degree ( double  rad)
inline
template<class VrmlNodeType >
boost::intrusive_ptr<VrmlNodeType> cnoid::dynamic_node_cast ( VrmlNodePtr  node)
inline

The upper cast operation that supports the situation where the original pointer is VrmlProtoInstance and you want to get the actual node, the node replaced with the pre-defined node type written in the PROTO definition.

BodyCustomizerInterface * cnoid::findBodyCustomizer ( std::string  modelName)
CNOID_EXPORT bool cnoid::findRelativePath ( const boost::filesystem::path &  from,
const boost::filesystem::path &  to,
boost::filesystem::path &  out_relativePath 
)
bool cnoid::findRelativePath ( const filesystem::path &  from_,
const filesystem::path &  to,
filesystem::path &  out_relativePath 
)
CNOID_EXPORT bool cnoid::findSubDirectory ( const boost::filesystem::path &  directory,
const boost::filesystem::path &  path,
boost::filesystem::path &  out_subdirectory 
)
bool cnoid::findSubDirectory ( const filesystem::path &  directory,
const filesystem::path &  path,
filesystem::path &  out_subdirectory 
)
const std::string& cnoid::fromUtf8 ( const std::string &  text)
inline
const std::string cnoid::fromUtf8 ( const char *  text)
inline
HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var cnoid::getOnlineViewer ( int  argc,
char **  argv 
)
HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var cnoid::getOnlineViewer ( CORBA_ORB_var  orb)
Matrix3 cnoid::hat ( const Vector3 &  x)
inline
void cnoid::initializeBodyItem ( ExtensionManager &  ext)
void cnoid::initializeBodyMotionEngine ( ExtensionManager &  em)
void cnoid::initializeBodyMotionItem ( ExtensionManager &  ext)
void cnoid::initializeDynamicsSimulatorItem ( ExtensionManager &  ext)
void cnoid::initializeFilterDialogs ( ExtensionManager &  ext)
void cnoid::initializeKinematicsSimulatorItem ( ExtensionManager &  ext)
void cnoid::initializeWorldItem ( ExtensionManager &  ext)
void cnoid::intrusive_ptr_add_ref ( cnoid::Referenced obj)
inline
void cnoid::intrusive_ptr_add_ref ( cnoid::YamlNode obj)
inline
void cnoid::intrusive_ptr_add_ref ( VrmlNode *  obj)
inline
void cnoid::intrusive_ptr_release ( cnoid::Referenced obj)
inline
void cnoid::intrusive_ptr_release ( cnoid::YamlNode obj)
inline
void cnoid::intrusive_ptr_release ( VrmlNode *  obj)
inline
template<typename TValue >
const char* cnoid::labelOfVrmlFieldType ( )
inline
const char * cnoid::labelOfVrmlFieldTypeId ( int  type)
int cnoid::loadBodyCustomizers ( const std::string  pathString,
BodyInterface bodyInterface 
)

DLLs of body customizer in the path are loaded and they are registered to the customizer repository.

The loaded customizers can be obtained by using findBodyCustomizer() function.

引数
pathStringthe path to a DLL file or a directory that contains DLLs
int cnoid::loadBodyCustomizers ( const std::string  pathString)
int cnoid::loadBodyCustomizers ( BodyInterface bodyInterface)

The function loads the customizers in the directories specified by the environmental variable CNOID_CUSTOMIZER_PATH

int cnoid::loadBodyCustomizers ( )
bool cnoid::loadHrpsysSeqFileSet ( BodyMotion motion,
const std::string &  filename,
std::ostream &  os 
)
CNOID_EXPORT void cnoid::makePathCompact ( const boost::filesystem::path &  path,
boost::filesystem::path &  out_compact 
)
void cnoid::makePathCompact ( const filesystem::path &  path,
filesystem::path &  out_compact 
)
void cnoid::msleep ( int  msec)
inline
CNOID_EXPORT std::ostream & cnoid::nullout ( )
CNOID_EXPORT Vector3 cnoid::omegaFromRot ( const Matrix3 &  R)
CNOID_EXPORT BodyMotion::Frame & cnoid::operator>> ( const BodyMotion::Frame frame,
const Body body 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
double &  value 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
int &  value 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
const char *  matchString 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
char  matchChar 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
std::string &  str 
)
CNOID_EXPORT EasyScanner& cnoid::operator>> ( EasyScanner scanner,
EasyScanner::Endl  endl 
)
double cnoid::radian ( double  deg)
inline
template<typename Derived >
bool cnoid::read ( const YamlMapping &  mapping,
const std::string &  key,
Eigen::MatrixBase< Derived > &  x 
)
template<typename Derived >
void cnoid::readEx ( const YamlMapping &  mapping,
const std::string &  key,
Eigen::MatrixBase< Derived > &  x 
)
inline
CNOID_EXPORT Matrix3 cnoid::rotFromRpy ( double  r,
double  p,
double  y 
)
Matrix3 cnoid::rotFromRpy ( const Vector3 &  rpy)
inline
template<typename Derived >
Eigen::Matrix<typename Eigen::MatrixBase<Derived>::Scalar, 3, 1> cnoid::rpyFromRot ( const Eigen::MatrixBase< Derived > &  R)
inline
bool cnoid::saveHrpsysSeqFileSet ( BodyMotion motion,
BodyPtr  body,
const std::string &  filename,
std::ostream &  os 
)
template<class T >
void cnoid::setGaussWindow ( sigma,
int  range,
std::vector< T > &  out_window 
)
const std::string& cnoid::toActualPathName ( const std::string &  pathName)
inline
const std::string& cnoid::toUtf8 ( const std::string &  text)
inline
const std::string cnoid::toUtf8 ( const char *  text)
inline
void cnoid::usleep ( int  usec)
inline
template<typename TValue >
int cnoid::vrmlFieldTypeId ( )
template<>
int cnoid::vrmlFieldTypeId< MFColor > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFFloat > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFInt32 > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFNode > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFRotation > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFString > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFTime > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< MFVec3f > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFColor > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFFloat > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFImage > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFInt32 > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFNode > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFRotation > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFString > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFTime > ( )
inline
template<>
int cnoid::vrmlFieldTypeId< SFVec3f > ( )
inline
template<typename Derived >
YamlSequence& cnoid::write ( YamlMapping &  mapping,
const std::string &  key,
const Eigen::MatrixBase< Derived > &  x 
)

変数

const double cnoid::PI = 3.14159265358979323846
const double cnoid::PI_2 = 1.57079632679489661923