Inheritance diagram for cnoid::LeggedBodyHelper:

Public Member Functions
	LeggedBodyHelper ()

	LeggedBodyHelper (Body *body)

	LeggedBodyHelper (const LeggedBodyHelper &org)

bool	isValid () const

virtual bool	resetBody (Body *body)

virtual	~LeggedBodyHelper ()

Body *	body () const

int	numFeet () const

Link *	footLink (int index) const

Link *	kneePitchJoint (int footIndex) const

bool	doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)

bool	setStance (double width, Link *baseLink)

const Vector3 &	centerOfSoleLocal (int footIndex) const

Vector3	centerOfSole (int footIndex) const

Vector3	centerOfSoles () const

Vector3	homeCopOfSole (int footIndex) const

Vector3	homeCopOfSoles () 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

Constructor & Destructor Documentation

LeggedBodyHelper::LeggedBodyHelper ( )

LeggedBodyHelper::LeggedBodyHelper ( Body * body )

LeggedBodyHelper::LeggedBodyHelper ( const LeggedBodyHelper & org )

LeggedBodyHelper::~LeggedBodyHelper ( )

virtual

Member Function Documentation

Body* cnoid::LeggedBodyHelper::body ( ) const

inline

Vector3 LeggedBodyHelper::centerOfSole ( int footIndex ) const

const Vector3& cnoid::LeggedBodyHelper::centerOfSoleLocal ( int footIndex ) const

inline

Vector3 LeggedBodyHelper::centerOfSoles ( ) const

bool LeggedBodyHelper::doLegIkToMoveCm	(	const Vector3 &	c,
		bool	onlyProjectionToFloor = `false`
	)

Link* cnoid::LeggedBodyHelper::footLink ( int index ) const

inline

Vector3 LeggedBodyHelper::homeCopOfSole ( int footIndex ) const

Vector3 LeggedBodyHelper::homeCopOfSoles ( ) const

bool cnoid::LeggedBodyHelper::isValid ( ) const

inline

Link* cnoid::LeggedBodyHelper::kneePitchJoint ( int footIndex ) const

inline

int cnoid::LeggedBodyHelper::numFeet ( ) const

inline

bool LeggedBodyHelper::resetBody ( Body * body )

virtual

bool LeggedBodyHelper::setStance	(	double	width,
		Link *	baseLink
	)

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