Choreonoid  1.5
Public Member Functions | List of all members
cnoid::PinDragIK Class Reference

#include <PinDragIK.h>

Inheritance diagram for cnoid::PinDragIK:
cnoid::InverseKinematics

Public Member Functions

 PinDragIK (Body *body)
 
 ~PinDragIK ()
 
Bodybody () const
 
void setBaseLink (Link *baseLink)
 
void setFreeRootWeight (double translation, double rotation)
 
void setTargetLink (Link *targetLink, bool isAttitudeEnabled=false)
 
void setJointWeight (int jointId, double weight)
 
void setPin (Link *link, InverseKinematics::AxisSet axes=InverseKinematics::TRANSLATION_3D, double weight=1.0)
 
InverseKinematics::AxisSet pinAxes (Link *link)
 
void clearPins ()
 
int numPinnedLinks ()
 
virtual void setIKErrorThresh (double e)
 
virtual bool hasAnalyticalIK ()
 
virtual InverseKinematics::AxisSet targetAxes () const
 
void setSRInverseParameters (double k0, double w0)
 
void enableJointRangeConstraints (bool on)
 
bool initialize ()
 
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
 
- Public Member Functions inherited from cnoid::InverseKinematics
virtual ~InverseKinematics ()
 
virtual AxisSet axisType () const
 

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

◆ PinDragIK()

PinDragIK::PinDragIK ( Body body)

◆ ~PinDragIK()

PinDragIK::~PinDragIK ( )

Member Function Documentation

◆ body()

Body * PinDragIK::body ( ) const

◆ calcInverseKinematics()

bool PinDragIK::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual
Todo:
This should be "bool calcInverseKinematics(const Position& T) = 0

Implements cnoid::InverseKinematics.

◆ clearPins()

void PinDragIK::clearPins ( )

◆ enableJointRangeConstraints()

void PinDragIK::enableJointRangeConstraints ( bool  on)

◆ hasAnalyticalIK()

bool PinDragIK::hasAnalyticalIK ( )
virtual

◆ initialize()

bool PinDragIK::initialize ( void  )

this must be called before the initial calcInverseKinematics() call after settings have been changed.

◆ numPinnedLinks()

int PinDragIK::numPinnedLinks ( )

◆ pinAxes()

InverseKinematics::AxisSet PinDragIK::pinAxes ( Link link)

◆ setBaseLink()

void PinDragIK::setBaseLink ( Link baseLink)

◆ setFreeRootWeight()

void PinDragIK::setFreeRootWeight ( double  translation,
double  rotation 
)

◆ setIKErrorThresh()

void PinDragIK::setIKErrorThresh ( double  e)
virtual

◆ setJointWeight()

void PinDragIK::setJointWeight ( int  jointId,
double  weight 
)

◆ setPin()

void PinDragIK::setPin ( Link link,
InverseKinematics::AxisSet  axes = InverseKinematics::TRANSLATION_3D,
double  weight = 1.0 
)

◆ setSRInverseParameters()

void PinDragIK::setSRInverseParameters ( double  k0,
double  w0 
)

◆ setTargetLink()

void PinDragIK::setTargetLink ( Link targetLink,
bool  isAttitudeEnabled = false 
)

◆ targetAxes()

InverseKinematics::AxisSet PinDragIK::targetAxes ( ) const
virtual

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