Public メソッド |
| LeggedBody () |
virtual | ~LeggedBody () |
virtual BodyPtr | duplicate () const |
int | numFeet () const |
Link * | footLink (int index) const |
const FootInfo & | footInfo (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 |
Link * | joint (int id) const |
const std::vector< Link * > & | joints () const |
int | numLinks () const |
Link * | link (int index) const |
const LinkTraverse & | links () const |
const LinkTraverse & | linkTraverse () const |
Link * | link (const std::string &name) const |
Link * | rootLink () const |
Sensor * | createSensor (Link *link, int sensorType, int id, const std::string &name) |
void | addSensor (Sensor *sensor, int sensorType, int id) |
Sensor * | sensor (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 Vector3 & | lastCM () |
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) |
YamlMapping * | info () |
void | resetInfo (YamlMappingPtr info) |
LinkGroup * | linkGroup () |
| Referenced () |
virtual | ~Referenced () |