cnoid::WaistBalancer Class Reference

#include <WaistBalancer.h>

Public Types
enum	BoundaryConditionType { KEEP_POSITIONS = 0, ZERO_VELOCITY = 1, NUM_BOUNDARY_CONDITION_TYPES = 2, DEFAULT_BOUNDARY_CONDITION = 0 }
enum	BoundarySmootherType {   NO_SMOOTHER = 0, CUBIC_SMOOTHER = 1, QUINTIC_SMOOTHER = 2, NUM_BOUNDARY_SMOOTHER_TYPES = 3,   DEFAULT_BOUNDARY_SMOOTHER = 2 }
enum	InitialWaistTrajectoryMode { PLAIN_TRAJECTORY, ORG_TRAJECTORY }

Public Member Functions
	WaistBalancer ()
void	setMessageOutputStream (std::ostream &os)
void	setBody (const BodyPtr &body)
const BodyPtr &	body () const
void	setWaistLink (Link *waistLink)
void	setNumIterations (int n)
int	numIterations () const
void	setTimeRange (double lower, double upper)
void	setFullTimeRange ()
void	setTimeMargins (double timeToStartBalancer, double preInitialDuration, double postFinalDuration)
void	setGravity (double g)
void	setDynamicsTimeRatio (double r)
void	setBoundaryConditionType (int type)
void	setBoundarySmoother (int type, double smoothingTime)
void	enableBoundaryCmAdjustment (bool on, double transitionTime=1.0)
void	setInitialWaistTrajectoryMode (int mode)
void	enableWaistHeightRelaxation (bool on)
bool	apply (PoseProvider *provider, BodyMotion &motion, bool putAllLinkPositions=false)

Static Public Member Functions
static const char *	boundaryConditionTypeNameOf (int type)
static int	boundaryConditionTypeOf (const std::string &name)
static const char *	boundarySmootherTypeNameOf (int type)
static int	boundarySmootherTypeOf (const std::string &name)

Member Enumeration Documentation

BoundaryConditionType

enum cnoid::WaistBalancer::BoundaryConditionType

Enumerator
KEEP_POSITIONS
ZERO_VELOCITY
NUM_BOUNDARY_CONDITION_TYPES
DEFAULT_BOUNDARY_CONDITION

BoundarySmootherType

enum cnoid::WaistBalancer::BoundarySmootherType

Enumerator
NO_SMOOTHER
CUBIC_SMOOTHER
QUINTIC_SMOOTHER
NUM_BOUNDARY_SMOOTHER_TYPES
DEFAULT_BOUNDARY_SMOOTHER

InitialWaistTrajectoryMode

enum cnoid::WaistBalancer::InitialWaistTrajectoryMode

Enumerator
PLAIN_TRAJECTORY
ORG_TRAJECTORY

Constructor & Destructor Documentation

WaistBalancer()

WaistBalancer::WaistBalancer

(

)

Member Function Documentation

apply()

bool WaistBalancer::apply	(	PoseProvider *	provider,
		BodyMotion &	motion,
		bool	putAllLinkPositions = false
	)

body()

const BodyPtr & WaistBalancer::body

(

)

const

boundaryConditionTypeNameOf()

const char * WaistBalancer::boundaryConditionTypeNameOf ( int  type )

static

boundaryConditionTypeOf()

int WaistBalancer::boundaryConditionTypeOf ( const std::string &  name )

static

boundarySmootherTypeNameOf()

const char * WaistBalancer::boundarySmootherTypeNameOf ( int  type )

static

boundarySmootherTypeOf()

int WaistBalancer::boundarySmootherTypeOf ( const std::string &  name )

static

enableBoundaryCmAdjustment()

void WaistBalancer::enableBoundaryCmAdjustment	(	bool	on,
		double	transitionTime = 1.0
	)

enableWaistHeightRelaxation()

void WaistBalancer::enableWaistHeightRelaxation

(

bool

on

)

numIterations()

int WaistBalancer::numIterations

(

)

const

setBody()

void WaistBalancer::setBody

(

const BodyPtr &

body

)

setBoundaryConditionType()

void WaistBalancer::setBoundaryConditionType

(

int

type

)

setBoundarySmoother()

void WaistBalancer::setBoundarySmoother	(	int	type,
		double	smoothingTime
	)

setDynamicsTimeRatio()

void WaistBalancer::setDynamicsTimeRatio

(

double

r

)

setFullTimeRange()

void WaistBalancer::setFullTimeRange

(

)

setGravity()

void WaistBalancer::setGravity

(

double

g

)

setInitialWaistTrajectoryMode()

void WaistBalancer::setInitialWaistTrajectoryMode

(

int

mode

)

setMessageOutputStream()

void cnoid::WaistBalancer::setMessageOutputStream ( std::ostream &  os )

inline

setNumIterations()

void WaistBalancer::setNumIterations

(

int

n

)

setTimeMargins()

void WaistBalancer::setTimeMargins	(	double	timeToStartBalancer,
		double	preInitialDuration,
		double	postFinalDuration
	)

setTimeRange()

void WaistBalancer::setTimeRange	(	double	lower,
		double	upper
	)

setWaistLink()

void WaistBalancer::setWaistLink

(

Link *

waistLink

)

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The documentation for this class was generated from the following files:

• WaistBalancer.h
• WaistBalancer.cpp