cnoid::Pose Class Reference

#include <Pose.h>

Inheritance diagram for cnoid::Pose:

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

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

Constructor & Destructor Documentation

Pose::Pose

(

)

Pose::Pose

(

int

numJoints

)

Pose::Pose

(

const Pose &

org

)

Pose::~Pose ( )

virtual

Member Function Documentation

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

inline

int cnoid::Pose::baseLinkIndex ( ) const

inline

LinkInfo* cnoid::Pose::baseLinkInfo ( )

inline

void Pose::clear

(

)

void Pose::clearIkLinks

(

)

PoseUnit * Pose::duplicate ( )

virtual

Implements cnoid::PoseUnit.

bool Pose::empty

(

)

bool Pose::hasSameParts ( PoseUnitPtr  unit )

virtual

Reimplemented from cnoid::PoseUnit.

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

inline

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

inline

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

inline

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

inline

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

inline

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

inline

void cnoid::Pose::invalidateBaseLink ( )

inline

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

inline

bool cnoid::Pose::invalidateZmp ( )

inline

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

inline

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

inline

bool cnoid::Pose::isZmpStationaryPoint ( ) const

inline

bool cnoid::Pose::isZmpValid ( ) const

inline

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

inline

size_t cnoid::Pose::numIkLinks ( )

inline

int cnoid::Pose::numJoints ( ) const

inline

bool Pose::removeIkLink

(

int

linkIndex

)

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

virtual

Implements cnoid::PoseUnit.

Pose::LinkInfo & Pose::setBaseLink

(

int

linkIndex

)

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

inline

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

inline

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

inline

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

inline

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

inline

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

inline

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

virtual

Implements cnoid::PoseUnit.

const Vector3 cnoid::Pose::zmp ( ) const

inline

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

• Pose.h
• Pose.cpp