Choreonoid  1.5
Classes | Public Types | Public Member Functions | List of all members
cnoid::Pose Class Reference

#include <Pose.h>

Inheritance diagram for cnoid::Pose:
cnoid::PoseUnit cnoid::Referenced

Classes

class  LinkInfo
 

Public Types

typedef std::map< int, LinkInfo > LinkInfoMap
 

Public Member Functions

 Pose ()
 
 Pose (int numJoints)
 
 Pose (const Pose &org)
 
virtual ~Pose ()
 
bool empty ()
 
void clear ()
 
virtual PoseUnit * duplicate ()
 
virtual bool hasSameParts (PoseUnitPtr unit)
 
virtual bool restore (const Mapping &archive, const BodyPtr body)
 
virtual void store (Mapping &archive, const BodyPtr body) const
 
void setNumJoints (int n)
 
int numJoints () const
 
void setJointPosition (int jointId, double q)
 
double jointPosition (int jointId) const
 
bool isJointValid (int jointId) const
 
void setJointStationaryPoint (int jointId, bool on=true)
 
bool isJointStationaryPoint (int jointId) const
 
bool invalidateJoint (int jointId)
 
void clearIkLinks ()
 
size_t numIkLinks ()
 
LinkInfo * addIkLink (int linkIndex)
 
bool removeIkLink (int linkIndex)
 
const LinkInfo * ikLinkInfo (int linkIndex) const
 
LinkInfo * ikLinkInfo (int linkIndex)
 
LinkInfoMap::iterator ikLinkBegin ()
 
const LinkInfoMap::const_iterator ikLinkBegin () const
 
LinkInfoMap::iterator ikLinkEnd ()
 
const LinkInfoMap::const_iterator ikLinkEnd () const
 
LinkInfo & setBaseLink (int linkIndex)
 
LinkInfo & setBaseLink (int linkIndex, const Vector3 &p, const Matrix3 &R)
 
int baseLinkIndex () const
 
LinkInfo * baseLinkInfo ()
 
void invalidateBaseLink ()
 
void setZmp (const Vector3 &p)
 
const Vector3 zmp () const
 
bool isZmpValid () const
 
bool invalidateZmp ()
 
void setZmpStationaryPoint (bool on=true)
 
bool isZmpStationaryPoint () const
 
- Public Member Functions inherited from cnoid::PoseUnit
 PoseUnit ()
 
 PoseUnit (const PoseUnit &org)
 
virtual ~PoseUnit ()
 
const std::string & name () const
 
- Public Member Functions inherited from cnoid::Referenced
virtual ~Referenced ()
 
void addRef ()
 
void releaseRef ()
 

Additional Inherited Members

- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &org)
 
int refCount () const
 

Member Typedef Documentation

§ LinkInfoMap

typedef std::map<int, LinkInfo> cnoid::Pose::LinkInfoMap

Constructor & Destructor Documentation

§ Pose() [1/3]

Pose::Pose ( )

§ Pose() [2/3]

Pose::Pose ( int  numJoints)

§ Pose() [3/3]

Pose::Pose ( const Pose &  org)

§ ~Pose()

Pose::~Pose ( )
virtual

Member Function Documentation

§ addIkLink()

LinkInfo* cnoid::Pose::addIkLink ( int  linkIndex)
inline

§ baseLinkIndex()

int cnoid::Pose::baseLinkIndex ( ) const
inline

§ baseLinkInfo()

LinkInfo* cnoid::Pose::baseLinkInfo ( )
inline

§ clear()

void Pose::clear ( )

§ clearIkLinks()

void Pose::clearIkLinks ( )

§ duplicate()

PoseUnit * Pose::duplicate ( )
virtual

Implements cnoid::PoseUnit.

§ empty()

bool Pose::empty ( )

§ hasSameParts()

bool Pose::hasSameParts ( PoseUnitPtr  unit)
virtual

Reimplemented from cnoid::PoseUnit.

§ ikLinkBegin() [1/2]

LinkInfoMap::iterator cnoid::Pose::ikLinkBegin ( )
inline

§ ikLinkBegin() [2/2]

const LinkInfoMap::const_iterator cnoid::Pose::ikLinkBegin ( ) const
inline

§ ikLinkEnd() [1/2]

LinkInfoMap::iterator cnoid::Pose::ikLinkEnd ( )
inline

§ ikLinkEnd() [2/2]

const LinkInfoMap::const_iterator cnoid::Pose::ikLinkEnd ( ) const
inline

§ ikLinkInfo() [1/2]

const LinkInfo* cnoid::Pose::ikLinkInfo ( int  linkIndex) const
inline

§ ikLinkInfo() [2/2]

LinkInfo* cnoid::Pose::ikLinkInfo ( int  linkIndex)
inline

§ invalidateBaseLink()

void cnoid::Pose::invalidateBaseLink ( )
inline

§ invalidateJoint()

bool cnoid::Pose::invalidateJoint ( int  jointId)
inline

§ invalidateZmp()

bool cnoid::Pose::invalidateZmp ( )
inline

§ isJointStationaryPoint()

bool cnoid::Pose::isJointStationaryPoint ( int  jointId) const
inline

§ isJointValid()

bool cnoid::Pose::isJointValid ( int  jointId) const
inline

§ isZmpStationaryPoint()

bool cnoid::Pose::isZmpStationaryPoint ( ) const
inline

§ isZmpValid()

bool cnoid::Pose::isZmpValid ( ) const
inline

§ jointPosition()

double cnoid::Pose::jointPosition ( int  jointId) const
inline

§ numIkLinks()

size_t cnoid::Pose::numIkLinks ( )
inline

§ numJoints()

int cnoid::Pose::numJoints ( ) const
inline

§ removeIkLink()

bool Pose::removeIkLink ( int  linkIndex)

§ restore()

bool Pose::restore ( const Mapping &  archive,
const BodyPtr  body 
)
virtual

Implements cnoid::PoseUnit.

§ setBaseLink() [1/2]

Pose::LinkInfo & Pose::setBaseLink ( int  linkIndex)

§ setBaseLink() [2/2]

LinkInfo& cnoid::Pose::setBaseLink ( int  linkIndex,
const Vector3 &  p,
const Matrix3 &  R 
)
inline

§ setJointPosition()

void cnoid::Pose::setJointPosition ( int  jointId,
double  q 
)
inline

§ setJointStationaryPoint()

void cnoid::Pose::setJointStationaryPoint ( int  jointId,
bool  on = true 
)
inline

§ setNumJoints()

void cnoid::Pose::setNumJoints ( int  n)
inline

§ setZmp()

void cnoid::Pose::setZmp ( const Vector3 &  p)
inline

§ setZmpStationaryPoint()

void cnoid::Pose::setZmpStationaryPoint ( bool  on = true)
inline

§ store()

void Pose::store ( Mapping &  archive,
const BodyPtr  body 
) const
virtual

Implements cnoid::PoseUnit.

§ zmp()

const Vector3 cnoid::Pose::zmp ( ) const
inline
The documentation for this class was generated from the following files:
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