#include <BodyState.h>

Inheritance diagram for cnoid::BodyState:

Public Types
enum	DataType { JOINT_POSITIONS, LINK_POSITIONS, JOINT_FORCE_OR_TORQUE, ZMP }

Public Types inherited from cnoid::DataMap< double >
typedef std::vector< double, std::allocator< double > >	Data

Public Member Functions
	BodyState ()

	BodyState (const Body &body)

void	storePositions (const Body &body)

bool	restorePositions (Body &io_body) const

void	setRootLinkPosition (const Position &T)

void	setRootLinkPosition (const SE3 &position)

bool	getRootLinkPosition (Position &out_T) const

bool	getRootLinkPosition (SE3 &out_position) const

void	setZMP (const Vector3 &zmp)

bool	getZMP (Vector3 &out_zmp) const

Public Member Functions inherited from cnoid::DataMap< double >
Data &	data (int id)

const Data &	data (int id) const

bool	operator== (const DataMap< double, std::allocator< double > > &rhs) const

Public Member Functions inherited from cnoid::DataMapBase
virtual	~DataMapBase ()

int	getDynamicID (const std::string &name)

const std::string &	getDynamicIDname (int id)

Protected Member Functions
virtual std::map< std::string, int > &	nameToIdMap ()

virtual std::map< int, std::string > &	idToNameMap ()

virtual int	nextDynamicId ()

Additional Inherited Members
Static Public Attributes inherited from cnoid::DataMapBase
static const int	MIN_DYNAMIC_ID = 10000

Detailed Description

Todo:: implement functions to store the state into ValueTree and restore the state from it

Member Enumeration Documentation

BodyState::BodyState ( )

BodyState::BodyState ( const Body & body )

bool BodyState::getRootLinkPosition ( Position & out_T ) const

bool BodyState::getRootLinkPosition ( SE3 & out_position ) const

bool BodyState::getZMP ( Vector3 & out_zmp ) const

std::map< int, std::string > & BodyState::idToNameMap ( )

protectedvirtual

Reimplemented from cnoid::DataMapBase.

std::map< std::string, int > & BodyState::nameToIdMap ( )

protectedvirtual

Reimplemented from cnoid::DataMapBase.

int BodyState::nextDynamicId ( )

protectedvirtual

Reimplemented from cnoid::DataMapBase.

bool BodyState::restorePositions ( Body & io_body ) const

void BodyState::setRootLinkPosition ( const Position & T )

void BodyState::setRootLinkPosition ( const SE3 & position )

void BodyState::setZMP ( const Vector3 & zmp )

void BodyState::storePositions ( const Body & body )

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