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| Link () |
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| Link (const Link &link) |
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virtual | ~Link () |
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int | index () const |
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bool | isValid () const |
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Link * | parent () const |
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Link * | sibling () const |
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Link * | child () const |
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bool | isRoot () const |
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Body * | body () |
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const Body * | body () const |
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Position & | T () |
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const Position & | T () const |
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Position & | position () |
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const Position & | position () const |
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template<class Scalar , int Mode, int Options> |
void | setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T) |
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template<typename Derived1 , typename Derived2 > |
void | setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation) |
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Position::TranslationPart | p () |
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Position::ConstTranslationPart | p () const |
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Position::TranslationPart | translation () |
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Position::ConstTranslationPart | translation () const |
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template<typename Derived > |
void | setTranslation (const Eigen::MatrixBase< Derived > &p) |
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Position::LinearPart | R () |
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Position::ConstLinearPart | R () const |
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Position::LinearPart | rotation () |
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Position::ConstLinearPart | rotation () const |
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template<typename Derived > |
void | setRotation (const Eigen::MatrixBase< Derived > &R) |
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template<typename T > |
void | setRotation (const Eigen::AngleAxis< T > &a) |
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Position & | Tb () |
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const Position & | Tb () const |
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Position::ConstTranslationPart | b () const |
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Position::ConstTranslationPart | offsetTranslation () const |
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Position::ConstLinearPart | Rb () const |
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Position::ConstLinearPart | offsetRotation () const |
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Matrix3 & | Rs () |
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const Matrix3 & | Rs () const |
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int | jointId () const |
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JointType | jointType () const |
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bool | isFixedJoint () const |
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bool | isFreeJoint () const |
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bool | isRotationalJoint () const |
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bool | isSlideJoint () const |
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std::string | jointTypeString () const |
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const Vector3 & | a () const |
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const Vector3 & | jointAxis () const |
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const Vector3 & | d () const |
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double | q () const |
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double & | q () |
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double | dq () const |
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double & | dq () |
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double | ddq () const |
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double & | ddq () |
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double | u () const |
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double & | u () |
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double | q_upper () const |
| the upper limit of joint values More...
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double | q_lower () const |
| the lower limit of joint values More...
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double | dq_upper () const |
| the upper limit of joint velocities More...
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double | dq_lower () const |
| the upper limit of joint velocities More...
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const Vector3 & | v () const |
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Vector3 & | v () |
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const Vector3 & | w () const |
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Vector3 & | w () |
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const Vector3 & | dv () const |
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Vector3 & | dv () |
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const Vector3 & | dw () const |
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Vector3 & | dw () |
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const Vector3 & | c () const |
| center of mass (self local) More...
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const Vector3 & | centerOfMass () const |
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const Vector3 & | wc () const |
| center of mass (world coordinate) More...
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const Vector3 & | centerOfMassGlobal () const |
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Vector3 & | wc () |
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double | m () const |
| mass More...
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double | mass () const |
| inertia tensor (self local, around c) More...
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const Matrix3 & | I () const |
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double | Jm2 () const |
| Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...
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const Vector6 & | F_ext () const |
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Vector6 & | F_ext () |
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Vector6::ConstFixedSegmentReturnType< 3 >::Type | f_ext () const |
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Vector6::FixedSegmentReturnType< 3 >::Type | f_ext () |
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Vector6::ConstFixedSegmentReturnType< 3 >::Type | tau_ext () const |
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Vector6::FixedSegmentReturnType< 3 >::Type | tau_ext () |
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const std::string & | name () const |
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SgNode * | shape () const |
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SgNode * | visualShape () const |
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SgNode * | collisionShape () const |
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void | setIndex (int index) |
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virtual void | prependChild (Link *link) |
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virtual void | appendChild (Link *link) |
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bool | removeChild (Link *link) |
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void | setOffsetPosition (const Position &T) |
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template<typename Derived > |
void | setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset) |
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template<typename Derived > |
void | setOffsetRotation (const Eigen::MatrixBase< Derived > &offset) |
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template<typename T > |
void | setOffsetRotation (const Eigen::AngleAxis< T > &a) |
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template<typename Derived > |
void | setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &Rs) |
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void | setJointType (JointType type) |
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void | setJointId (int id) |
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void | setJointAxis (const Vector3 &axis) |
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void | setJointRange (double lower, double upper) |
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void | setJointVelocityRange (double lower, double upper) |
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void | setCenterOfMass (const Vector3 &c) |
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void | setMass (double m) |
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void | setInertia (const Matrix3 &I) |
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void | setEquivalentRotorInertia (double Jm2) |
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void | setName (const std::string &name) |
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void | setShape (SgNode *shape) |
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void | setVisualShape (SgNode *shape) |
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void | setCollisionShape (SgNode *shape) |
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Matrix3 | attitude () const |
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void | setAttitude (const Matrix3 &Ra) |
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Matrix3 | calcRfromAttitude (const Matrix3 &Ra) |
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const Mapping * | info () const |
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Mapping * | info () |
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template<typename T > |
T | info (const std::string &key) const |
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template<typename T > |
T | info (const std::string &key, const T &defaultValue) const |
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template<typename T > |
void | setInfo (const std::string &key, const T &value) |
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void | resetInfo (Mapping *info) |
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double | initialJointDisplacement () const |
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double & | initialJointDisplacement () |
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template<> |
double | info (const std::string &key) const |
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template<> |
double | info (const std::string &key, const double &defaultValue) const |
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template<> |
void | setInfo (const std::string &key, const double &value) |
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template<> |
CNOID_EXPORT double | info (const std::string &key) const |
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template<> |
CNOID_EXPORT double | info (const std::string &key, const double &defaultValue) const |
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template<> |
CNOID_EXPORT void | setInfo (const std::string &key, const double &value) |
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virtual | ~Referenced () |
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void | addRef () |
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void | releaseRef () |
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