Choreonoid
1.1
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#include <JointPath.h>
公開メンバ関数 | |
JointPath () | |
JointPath (Link *base, Link *end) | |
JointPath (Link *end) | |
virtual | ~JointPath () |
bool | find (Link *base, Link *end) |
bool | find (Link *end) |
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 |
void | calcJacobian (Eigen::MatrixXd &out_J) const |
void | setMaxIKerror (double e) |
void | setBestEffortIKMode (bool on) |
virtual bool | calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R) |
virtual bool | hasAnalyticalIK () const |
bool | calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R) |
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virtual | ~InverseKinematics () |
virtual AxisSet | axisType () const |
限定公開メンバ関数 | |
virtual void | onJointPathUpdated () |
限定公開変数類 | |
double | maxIKerrorSqr |
bool | isBestEffortIKMode |
その他の継承メンバ | |
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enum | AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 } |
JointPath::JointPath | ( | ) |
JointPath::JointPath | ( | Link * | end | ) |
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virtual |
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inline |
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inline |
cnoid::InverseKinematicsを実装しています。
bool JointPath::calcInverseKinematics | ( | const Vector3 & | base_p, |
const Matrix3 & | base_R, | ||
const Vector3 & | end_p, | ||
const Matrix3 & | end_R | ||
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void JointPath::calcJacobian | ( | Eigen::MatrixXd & | out_J | ) | const |
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inline |
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inline |
bool JointPath::find | ( | Link * | end | ) |
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virtual |
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inline |
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inline |
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inline |
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protectedvirtual |
void JointPath::setBestEffortIKMode | ( | bool | on | ) |
void JointPath::setMaxIKerror | ( | double | e | ) |
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protected |
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protected |