#include <PoseSeqInterpolator.h>
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| PoseSeqInterpolator () |
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void | setBody (Body *body) |
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Body * | body () const |
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void | setLinearInterpolationJoint (int jointId) |
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void | addFootLink (int linkIndex, const Vector3 &soleCenter) |
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void | setLipSyncShapes (const Mapping &info) |
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const std::vector< int > & | lipSyncLinkIndices () |
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void | setPoseSeq (PoseSeqPtr seq) |
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void | setTimeScaleRatio (double ratio) |
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double | beginningTime () const |
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double | endingTime () const |
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void | enableStealthyStepMode (bool on) |
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void | setStealthyStepParameters (double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime) |
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void | enableAutoZmpAdjustmentMode (bool on) |
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void | setZmpAdjustmentParameters (double minTransitionTime, double centeringTimeThresh, double timeMarginBeforeLifting, double maxDistanceFromCenter) |
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void | enableLipSyncMix (bool on) |
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void | setAutoUpdateMode (bool on) |
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bool | update () |
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SignalProxy< void()> | sigUpdated () |
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bool | interpolate (double time) |
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bool | interpolate (double time, int waistLinkIndex, const Vector3 &waistTranslation) |
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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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int | baseLinkIndex () const |
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virtual bool | getBaseLinkPosition (Position &out_T) const |
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boost::optional< double > | jointPosition (int jointId) const |
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boost::optional< Vector3 > | ZMP () const |
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virtual void | getJointPositions (std::vector< boost::optional< double > > &out_q) const |
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virtual | ~PoseProvider () |
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◆ PoseSeqInterpolator()
PoseSeqInterpolator::PoseSeqInterpolator |
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◆ addFootLink()
void PoseSeqInterpolator::addFootLink |
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int |
linkIndex, |
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const Vector3 & |
soleCenter |
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) |
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◆ baseLinkIndex()
int PoseSeqInterpolator::baseLinkIndex |
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const |
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virtual |
◆ beginningTime()
double PoseSeqInterpolator::beginningTime |
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const |
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virtual |
◆ body()
Body * PoseSeqInterpolator::body |
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const |
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virtual |
◆ enableAutoZmpAdjustmentMode()
void PoseSeqInterpolator::enableAutoZmpAdjustmentMode |
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bool |
on | ) |
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◆ enableLipSyncMix()
void PoseSeqInterpolator::enableLipSyncMix |
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bool |
on | ) |
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◆ enableStealthyStepMode()
void PoseSeqInterpolator::enableStealthyStepMode |
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bool |
on | ) |
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◆ endingTime()
double PoseSeqInterpolator::endingTime |
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const |
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virtual |
◆ getBaseLinkPosition()
bool PoseSeqInterpolator::getBaseLinkPosition |
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Position & |
out_T | ) |
const |
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virtual |
◆ getJointPositions()
void PoseSeqInterpolator::getJointPositions |
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std::vector< boost::optional< double > > & |
out_q | ) |
const |
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virtual |
◆ interpolate() [1/2]
bool PoseSeqInterpolator::interpolate |
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double |
time | ) |
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◆ interpolate() [2/2]
bool PoseSeqInterpolator::interpolate |
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double |
time, |
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int |
waistLinkIndex, |
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const Vector3 & |
waistTranslation |
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) |
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- Parameters
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waistLinkIndex | A link that is translated for maintaing the dynamic balance |
waistTranslation | translation of the balancing link usually provided by the waist balance filter |
◆ jointPosition()
boost::optional< double > PoseSeqInterpolator::jointPosition |
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int |
jointId | ) |
const |
◆ lipSyncLinkIndices()
const std::vector< int > & PoseSeqInterpolator::lipSyncLinkIndices |
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◆ seek() [1/2]
bool PoseSeqInterpolator::seek |
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double |
time | ) |
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◆ seek() [2/2]
bool PoseSeqInterpolator::seek |
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double |
time, |
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int |
waistLinkIndex, |
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const Vector3 & |
waistTranslation |
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) |
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◆ setAutoUpdateMode()
void cnoid::PoseSeqInterpolator::setAutoUpdateMode |
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bool |
on | ) |
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This function has not been implemented yet.
◆ setBody()
void PoseSeqInterpolator::setBody |
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Body * |
body | ) |
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◆ setLinearInterpolationJoint()
void PoseSeqInterpolator::setLinearInterpolationJoint |
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int |
jointId | ) |
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◆ setLipSyncShapes()
void PoseSeqInterpolator::setLipSyncShapes |
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const Mapping & |
info | ) |
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◆ setPoseSeq()
void PoseSeqInterpolator::setPoseSeq |
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PoseSeqPtr |
seq | ) |
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◆ setStealthyStepParameters()
void PoseSeqInterpolator::setStealthyStepParameters |
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double |
heightRatioThresh, |
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double |
flatLiftingHeight, |
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double |
flatLandingHeight, |
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double |
impactReductionHeight, |
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double |
impactReductionTime |
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) |
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◆ setTimeScaleRatio()
void PoseSeqInterpolator::setTimeScaleRatio |
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double |
ratio | ) |
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◆ setZmpAdjustmentParameters()
void PoseSeqInterpolator::setZmpAdjustmentParameters |
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double |
minTransitionTime, |
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double |
centeringTimeThresh, |
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double |
timeMarginBeforeLifting, |
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double |
maxDistanceFromCenter |
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◆ sigUpdated()
SignalProxy< void()> PoseSeqInterpolator::sigUpdated |
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◆ update()
bool PoseSeqInterpolator::update |
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◆ ZMP()
boost::optional< Vector3 > PoseSeqInterpolator::ZMP |
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const |
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virtual |
The documentation for this class was generated from the following files: