#include <JointPath.h>

Inheritance diagram for cnoid::JointPath:

Public Member Functions
	JointPath ()

	JointPath (Link base, Link end)

	JointPath (Link *end)

virtual	~JointPath ()

bool	setPath (Link base, Link end)

bool	setPath (Link *end)

bool	find (Link base, Link end)
	Deprecated. Use "setPath()" instead of this. More...

bool	find (Link *end)
	Deprecated. Use "setPath()" instead of this. More...

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

int	indexOf (const Link *link) const

bool	isBestEffortIKmode () const

void	setBestEffortIKmode (bool on)

void	setNumericalIKmaxIKerror (double e)

void	setNumericalIKdeltaScale (double s)

void	setNumericalIKmaxIterations (int n)

void	setNumericalIKdampingConstant (double lambda)

void	customizeTarget (int numTargetElements, boost::function< double(VectorXd &out_error)> errorFunc, boost::function< void(MatrixXd &out_Jacobian)> jacobianFunc)

virtual bool	hasAnalyticalIK () const

JointPath &	storeCurrentPosition ()

JointPath &	setGoal (const Vector3 &end_p, const Matrix3 &end_R)

JointPath &	setGoal (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)

virtual bool	calcInverseKinematics ()

bool	calcNumericalIK ()

int	numIterations () const

void	calcJacobian (Eigen::MatrixXd &out_J) const
	deprecated More...

virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
	deprecated More...

bool	calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
	deprecated More...

void	setNumericalIKtruncateRatio (double r)
	deprecated More...

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

virtual AxisSet	axisType () const

Static Public Member Functions
static double	numericalIKdefaultDeltaScale ()

static int	numericalIKdefaultMaxIterations ()

static double	numericalIKdefaultMaxIKerror ()

static double	numericalIKdefaultDampingConstant ()

static double	numericalIKdefaultTruncateRatio ()
	deprecated More...

Protected Member Functions
virtual void	onJointPathUpdated ()

Additional Inherited Members
Public Types inherited from cnoid::InverseKinematics
enum	AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

Constructor & Destructor Documentation

JointPath::JointPath ( )

JointPath::JointPath	(	Link *	base,
		Link *	end
	)

JointPath::JointPath ( Link * end )

JointPath::~JointPath ( )

virtual

Member Function Documentation

Link* cnoid::JointPath::baseLink ( ) const

inline

void cnoid::JointPath::calcForwardKinematics	(	bool	calcVelocity = `false`,
		bool	calcAcceleration = `false`
	)		const

inline

bool JointPath::calcInverseKinematics ( )

virtual

bool JointPath::calcInverseKinematics	(	const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

virtual

deprecated

Implements cnoid::InverseKinematics.

bool JointPath::calcInverseKinematics	(	const Vector3 &	base_p,
		const Matrix3 &	base_R,
		const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

deprecated

void JointPath::calcJacobian ( Eigen::MatrixXd & out_J ) const

deprecated

Todo:: compare the efficiency for the following codes

bool cnoid::JointPath::calcNumericalIK ( )

inline

void JointPath::customizeTarget	(	int	numTargetElements,
		boost::function< double(VectorXd &out_error)>	errorFunc,
		boost::function< void(MatrixXd &out_Jacobian)>	jacobianFunc
	)

bool cnoid::JointPath::empty ( ) const

inline

Link* cnoid::JointPath::endLink ( ) const

inline

bool cnoid::JointPath::find	(	Link *	base,
		Link *	end
	)

inline

Deprecated. Use "setPath()" instead of this.

bool cnoid::JointPath::find ( Link * end )

inline

Deprecated. Use "setPath()" instead of this.

bool JointPath::hasAnalyticalIK ( ) const

virtual

int JointPath::indexOf ( const Link * link ) const

bool JointPath::isBestEffortIKmode ( ) const

bool cnoid::JointPath::isJointDownward ( int index ) const

inline

Link* cnoid::JointPath::joint ( int index ) const

inline

double JointPath::numericalIKdefaultDampingConstant ( )

static

double JointPath::numericalIKdefaultDeltaScale ( )

static

double JointPath::numericalIKdefaultMaxIKerror ( )

static

int JointPath::numericalIKdefaultMaxIterations ( )

static

double JointPath::numericalIKdefaultTruncateRatio ( )

static

deprecated

int JointPath::numIterations ( ) const

int cnoid::JointPath::numJoints ( ) const

inline

void JointPath::onJointPathUpdated ( )

protectedvirtual

void JointPath::setBestEffortIKmode ( bool on )

JointPath& cnoid::JointPath::setGoal	(	const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

inline

JointPath & JointPath::setGoal	(	const Vector3 &	base_p,
		const Matrix3 &	base_R,
		const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

void JointPath::setNumericalIKdampingConstant ( double lambda )

void JointPath::setNumericalIKdeltaScale ( double s )

void JointPath::setNumericalIKmaxIKerror ( double e )

void JointPath::setNumericalIKmaxIterations ( int n )

void JointPath::setNumericalIKtruncateRatio ( double r )

deprecated

bool JointPath::setPath	(	Link *	base,
		Link *	end
	)

bool JointPath::setPath ( Link * end )

JointPath& cnoid::JointPath::storeCurrentPosition ( )

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation