クラス cnoid::JointPath

#include <JointPath.h>

cnoid::JointPathに対する継承グラフ

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
Link *	joint (int index) const
Link *	baseLink () const
Link *	endLink () 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:

• JointPath.h
• JointPath.cpp