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

#include <LeggedBody.h>

cnoid::LeggedBodyに対する継承グラフ
cnoid::Body cnoid::Referenced

構成

struct  FootInfo

Public メソッド

 LeggedBody ()
virtual ~LeggedBody ()
virtual BodyPtr duplicate () const
int numFeet () const
LinkfootLink (int index) const
const FootInfofootInfo (int index) const
bool doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
bool setStance (double width, Link *baseLink)
Vector3 centerOfSole (int footIndex) const
Vector3 centerOfSoles () const
Vector3 homeCopOfSole (int footIndex) const
Vector3 homeCopOfSoles () const
- Public メソッド inherited from cnoid::Body
 Body ()
virtual ~Body ()
const std::string & name ()
void setName (const std::string &name)
const std::string & modelName ()
void setModelName (const std::string &name)
void setRootLink (Link *link)
void updateLinkTree ()
int numJoints () const
Linkjoint (int id) const
const std::vector< Link * > & joints () const
int numLinks () const
Linklink (int index) const
const LinkTraverselinks () const
const LinkTraverselinkTraverse () const
Linklink (const std::string &name) const
LinkrootLink () const
SensorcreateSensor (Link *link, int sensorType, int id, const std::string &name)
void addSensor (Sensor *sensor, int sensorType, int id)
Sensorsensor (int sensorType, int sensorId) const
int numSensors (int sensorType) const
int numSensorTypes () const
void clearSensorValues ()
template<class TSensor >
TSensor * sensor (int id) const
template<class TSensor >
TSensor * sensor (const std::string &name) const
bool isStaticModel ()
double calcTotalMass ()
double totalMass () const
Vector3 calcCM ()
const Vector3lastCM ()
void calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)
void setDefaultRootPosition (const Vector3 &p, const Matrix3 &R)
void getDefaultRootPosition (Vector3 &out_p, Matrix3 &out_R)
void initializeConfiguration ()
void calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void clearExternalForces ()
JointPathPtr getJointPath (Link *baseLink, Link *targetLink)
void setVirtualJointForces ()
virtual InverseKinematicsPtr getDefaultIK (Link *targetLink)
void updateLinkColdetModelPositions ()
void putInformation (std::ostream &out)
bool installCustomizer ()
bool installCustomizer (BodyCustomizerInterface *customizerInterface)
YamlMappinginfo ()
void resetInfo (YamlMappingPtr info)
LinkGrouplinkGroup ()
- Public メソッド inherited from cnoid::Referenced
 Referenced ()
virtual ~Referenced ()

Static Public メソッド

static bool checkBodyInfoAsLeggedBody (const YamlMappingPtr info)
- Static Public メソッド inherited from cnoid::Body
static void addCustomizerDirectory (const std::string &path)
static BodyInterfacebodyInterface ()

Protected メソッド

 LeggedBody (const LeggedBody &org)
virtual void doResetInfo (const YamlMapping &info)
- Protected メソッド inherited from cnoid::Body
 Body (const Body &org)
- Protected メソッド inherited from cnoid::Referenced
int refCounter ()

Additional Inherited Members

- Public 型 inherited from cnoid::Body
typedef std::vector
< LinkConnection
LinkConnectionArray
- Public 変数 inherited from cnoid::Body
LinkConnectionArray linkConnections

コンストラクタとデストラクタ

LeggedBody::LeggedBody ( )
LeggedBody::~LeggedBody ( )
virtual
LeggedBody::LeggedBody ( const LeggedBody org)
protected

関数

Vector3 LeggedBody::centerOfSole ( int  footIndex) const
Vector3 LeggedBody::centerOfSoles ( ) const
bool LeggedBody::checkBodyInfoAsLeggedBody ( const YamlMappingPtr  info)
static
bool LeggedBody::doLegIkToMoveCm ( const Vector3 c,
bool  onlyProjectionToFloor = false 
)
void LeggedBody::doResetInfo ( const YamlMapping info)
protectedvirtual

cnoid::Bodyを再定義しています。

BodyPtr LeggedBody::duplicate ( ) const
virtual

cnoid::Bodyを再定義しています。

const FootInfo& cnoid::LeggedBody::footInfo ( int  index) const
inline
Link* cnoid::LeggedBody::footLink ( int  index) const
inline
Vector3 LeggedBody::homeCopOfSole ( int  footIndex) const
Vector3 LeggedBody::homeCopOfSoles ( ) const
int cnoid::LeggedBody::numFeet ( ) const
inline
bool LeggedBody::setStance ( double  width,
Link baseLink 
)

このクラスの説明は次のファイルから生成されました: