Choreonoid
1.1
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src
Body
BodyMotionPoseProvider.h
[詳解]
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#ifndef CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H_INCLUDED
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#define CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H_INCLUDED
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#include "
Body.h
"
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#include "
Link.h
"
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#include "
PoseProvider.h
"
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#include "
BodyMotion.h
"
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#include "
exportdecl.h
"
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namespace
cnoid {
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class
CNOID_EXPORT
BodyMotionPoseProvider
:
public
PoseProvider
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{
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public
:
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BodyMotionPoseProvider
();
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BodyMotionPoseProvider
(
BodyPtr
body,
BodyMotionPtr
motion);
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void
initialize
(
BodyPtr
body,
BodyMotionPtr
motion);
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bool
updateMotion();
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virtual
Body
* body()
const
;
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virtual
double
beginningTime()
const
;
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virtual
double
endingTime()
const
;
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virtual
bool
seek(
double
time);
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virtual
bool
seek(
double
time,
int
waistLinkIndex,
const
Vector3
& waistTranslation);
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virtual
int
baseLinkIndex()
const
;
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virtual
bool
getBaseLinkPosition(
Vector3
& out_p,
Matrix3
& out_R)
const
;
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virtual
void
getJointPositions(std::vector< boost::optional<double> >& out_q)
const
;
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virtual
boost::optional<Vector3> zmp()
const
;
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private
:
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BodyPtr
body_;
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BodyMotionPtr
motion;
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int
minNumJoints;
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std::vector<Link*> footLinks;
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std::vector<JointPathPtr> ikPaths;
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MultiAffine3SeqPtr
footLinkPositions;
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std::vector<double> qTranslated;
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Vector3
p_waist;
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Matrix3
R_waist;
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Vector3
zmp_;
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bool
seek(
double
time,
int
waistLinkIndex,
const
Vector3
& waistTranslation,
bool
applyWaistTranslation);
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};
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}
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#endif
PoseProvider.h
cnoid::BodyPtr
boost::intrusive_ptr< Body > BodyPtr
Definition:
Body.h:22
cnoid::Body
Definition:
Body.h:45
BodyMotion.h
cnoid::BodyMotionPtr
boost::shared_ptr< BodyMotion > BodyMotionPtr
Definition:
BodyMotion.h:90
Body.h
cnoid::BodyMotionPoseProvider
Definition:
BodyMotionPoseProvider.h:17
cnoid::PoseProvider
Definition:
PoseProvider.h:16
cnoid::MultiAffine3SeqPtr
MultiAffine3Seq::Ptr MultiAffine3SeqPtr
Definition:
MultiAffine3Seq.h:40
cnoid::Vector3
Eigen::Vector3d Vector3
Definition:
EigenTypes.h:26
CNOID_EXPORT
#define CNOID_EXPORT
Definition:
Util/exportdecl.h:13
exportdecl.h
initialize
bool initialize()
Link.h
cnoid::Matrix3
Eigen::Matrix3d Matrix3
Definition:
EigenTypes.h:25
2014年04月29日(火) 21時13分24秒作成 - Choreonoid / 構成:
1.8.6