6 #ifndef CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_INTERPOLATOR_H 7 #define CNOID_POSE_SEQ_PLUGIN_POSE_SEQ_INTERPOLATOR_H 10 #include <cnoid/PoseProvider> 11 #include <cnoid/Signal> 12 #include <boost/shared_ptr.hpp> 26 void setBody(
Body* body);
29 void setLinearInterpolationJoint(
int jointId);
31 void addFootLink(
int linkIndex,
const Vector3& soleCenter);
33 void setLipSyncShapes(
const Mapping& info);
34 const std::vector<int>& lipSyncLinkIndices();
38 void setTimeScaleRatio(
double ratio);
40 double beginningTime()
const;
41 double endingTime()
const;
43 void enableStealthyStepMode(
bool on);
44 void setStealthyStepParameters(
45 double heightRatioThresh,
46 double flatLiftingHeight,
double flatLandingHeight,
47 double impactReductionHeight,
double impactReductionTime);
49 void enableAutoZmpAdjustmentMode(
bool on);
50 void setZmpAdjustmentParameters(
51 double minTransitionTime,
double centeringTimeThresh,
52 double timeMarginBeforeLifting,
double maxDistanceFromCenter);
54 void enableLipSyncMix(
bool on);
59 void setAutoUpdateMode(
bool on);
65 bool interpolate(
double time);
66 bool interpolate(
double time,
int waistLinkIndex,
const Vector3& waistTranslation);
68 virtual bool seek(
double time);
69 virtual bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation);
74 int baseLinkIndex()
const;
75 virtual bool getBaseLinkPosition(
Position& out_T)
const;
77 boost::optional<double> jointPosition(
int jointId)
const;
78 boost::optional<Vector3> ZMP()
const;
80 virtual void getJointPositions(std::vector< boost::optional<double> >& out_q)
const;
Definition: ValueTree.h:224
Definition: PoseProvider.h:16
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Definition: PoseSeqInterpolator.h:20
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
boost::shared_ptr< PoseSeqInterpolator > PoseSeqInterpolatorPtr
Definition: PoseSeqInterpolator.h:87
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37