Choreonoid  1.5
Public Types | Public Member Functions | Protected Member Functions | List of all members
cnoid::BodyState Class Reference

#include <BodyState.h>

Inheritance diagram for cnoid::BodyState:
cnoid::DataMap< double > cnoid::DataMapBase

Public Types

enum  DataType { JOINT_POSITIONS, LINK_POSITIONS, JOINT_FORCE_OR_TORQUE, ZMP }
 
- Public Types inherited from cnoid::DataMap< double >
typedef std::vector< double, std::allocator< double > > Data
 

Public Member Functions

 BodyState ()
 
 BodyState (const Body &body)
 
void storePositions (const Body &body)
 
bool restorePositions (Body &io_body) const
 
void setRootLinkPosition (const Position &T)
 
void setRootLinkPosition (const SE3 &position)
 
bool getRootLinkPosition (Position &out_T) const
 
bool getRootLinkPosition (SE3 &out_position) const
 
void setZMP (const Vector3 &zmp)
 
bool getZMP (Vector3 &out_zmp) const
 
- Public Member Functions inherited from cnoid::DataMap< double >
Datadata (int id)
 
const Datadata (int id) const
 
bool operator== (const DataMap< double, std::allocator< double > > &rhs) const
 
- Public Member Functions inherited from cnoid::DataMapBase
virtual ~DataMapBase ()
 
int getDynamicID (const std::string &name)
 
const std::string & getDynamicIDname (int id)
 

Protected Member Functions

virtual std::map< std::string, int > & nameToIdMap ()
 
virtual std::map< int, std::string > & idToNameMap ()
 
virtual int nextDynamicId ()
 

Additional Inherited Members

- Static Public Attributes inherited from cnoid::DataMapBase
static const int MIN_DYNAMIC_ID = 10000
 

Detailed Description

Todo:
implement functions to store the state into ValueTree and restore the state from it

Member Enumeration Documentation

◆ DataType

Enumerator
JOINT_POSITIONS 
LINK_POSITIONS 
JOINT_FORCE_OR_TORQUE 
ZMP 

Constructor & Destructor Documentation

◆ BodyState() [1/2]

BodyState::BodyState ( )

◆ BodyState() [2/2]

BodyState::BodyState ( const Body body)

Member Function Documentation

◆ getRootLinkPosition() [1/2]

bool BodyState::getRootLinkPosition ( Position out_T) const

◆ getRootLinkPosition() [2/2]

bool BodyState::getRootLinkPosition ( SE3 out_position) const

◆ getZMP()

bool BodyState::getZMP ( Vector3 out_zmp) const

◆ idToNameMap()

std::map< int, std::string > & BodyState::idToNameMap ( )
protectedvirtual

Reimplemented from cnoid::DataMapBase.

◆ nameToIdMap()

std::map< std::string, int > & BodyState::nameToIdMap ( )
protectedvirtual

Reimplemented from cnoid::DataMapBase.

◆ nextDynamicId()

int BodyState::nextDynamicId ( )
protectedvirtual

Reimplemented from cnoid::DataMapBase.

◆ restorePositions()

bool BodyState::restorePositions ( Body io_body) const

◆ setRootLinkPosition() [1/2]

void BodyState::setRootLinkPosition ( const Position T)

◆ setRootLinkPosition() [2/2]

void BodyState::setRootLinkPosition ( const SE3 position)

◆ setZMP()

void BodyState::setZMP ( const Vector3 zmp)

◆ storePositions()

void BodyState::storePositions ( const Body body)

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