#include <JointPath.h>
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| JointPath () |
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| JointPath (Link *base, Link *end) |
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| JointPath (Link *end) |
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virtual | ~JointPath () |
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bool | setPath (Link *base, Link *end) |
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bool | setPath (Link *end) |
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bool | find (Link *base, Link *end) |
| Deprecated. Use "setPath()" instead of this. More...
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bool | find (Link *end) |
| Deprecated. Use "setPath()" instead of this. More...
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bool | empty () const |
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int | numJoints () const |
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Link * | joint (int index) const |
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Link * | baseLink () const |
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Link * | endLink () const |
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bool | isJointDownward (int index) const |
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void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const |
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int | indexOf (const Link *link) const |
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bool | isBestEffortIKmode () const |
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void | setBestEffortIKmode (bool on) |
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void | setNumericalIKmaxIKerror (double e) |
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void | setNumericalIKdeltaScale (double s) |
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void | setNumericalIKmaxIterations (int n) |
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void | setNumericalIKdampingConstant (double lambda) |
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void | customizeTarget (int numTargetElements, boost::function< double(VectorXd &out_error)> errorFunc, boost::function< void(MatrixXd &out_Jacobian)> jacobianFunc) |
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virtual bool | hasAnalyticalIK () const |
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JointPath & | storeCurrentPosition () |
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JointPath & | setGoal (const Vector3 &end_p, const Matrix3 &end_R) |
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JointPath & | setGoal (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R) |
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virtual bool | calcInverseKinematics () |
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bool | calcNumericalIK () |
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int | numIterations () const |
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void | calcJacobian (Eigen::MatrixXd &out_J) const |
| deprecated More...
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virtual bool | calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R) |
| deprecated More...
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bool | calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R) |
| deprecated More...
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void | setNumericalIKtruncateRatio (double r) |
| deprecated More...
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virtual | ~InverseKinematics () |
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virtual AxisSet | axisType () const |
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◆ JointPath() [1/3]
◆ JointPath() [2/3]
JointPath::JointPath |
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Link * |
base, |
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Link * |
end |
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) |
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◆ JointPath() [3/3]
JointPath::JointPath |
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Link * |
end | ) |
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◆ ~JointPath()
JointPath::~JointPath |
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virtual |
◆ baseLink()
Link* cnoid::JointPath::baseLink |
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const |
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inline |
◆ calcForwardKinematics()
void cnoid::JointPath::calcForwardKinematics |
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bool |
calcVelocity = false , |
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bool |
calcAcceleration = false |
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) |
| const |
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inline |
◆ calcInverseKinematics() [1/3]
bool JointPath::calcInverseKinematics |
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virtual |
◆ calcInverseKinematics() [2/3]
bool JointPath::calcInverseKinematics |
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const Vector3 & |
end_p, |
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const Matrix3 & |
end_R |
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) |
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virtual |
◆ calcInverseKinematics() [3/3]
◆ calcJacobian()
void JointPath::calcJacobian |
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Eigen::MatrixXd & |
out_J | ) |
const |
deprecated
- Todo:
- compare the efficiency for the following codes
◆ calcNumericalIK()
bool cnoid::JointPath::calcNumericalIK |
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inline |
◆ customizeTarget()
void JointPath::customizeTarget |
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int |
numTargetElements, |
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boost::function< double(VectorXd &out_error)> |
errorFunc, |
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boost::function< void(MatrixXd &out_Jacobian)> |
jacobianFunc |
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) |
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◆ empty()
bool cnoid::JointPath::empty |
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const |
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inline |
◆ endLink()
Link* cnoid::JointPath::endLink |
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const |
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inline |
◆ find() [1/2]
bool cnoid::JointPath::find |
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Link * |
base, |
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Link * |
end |
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) |
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inline |
Deprecated. Use "setPath()" instead of this.
◆ find() [2/2]
bool cnoid::JointPath::find |
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Link * |
end | ) |
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inline |
Deprecated. Use "setPath()" instead of this.
◆ hasAnalyticalIK()
bool JointPath::hasAnalyticalIK |
( |
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const |
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virtual |
◆ indexOf()
int JointPath::indexOf |
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const Link * |
link | ) |
const |
◆ isBestEffortIKmode()
bool JointPath::isBestEffortIKmode |
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const |
◆ isJointDownward()
bool cnoid::JointPath::isJointDownward |
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int |
index | ) |
const |
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inline |
◆ joint()
Link* cnoid::JointPath::joint |
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int |
index | ) |
const |
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inline |
◆ numericalIKdefaultDampingConstant()
double JointPath::numericalIKdefaultDampingConstant |
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static |
◆ numericalIKdefaultDeltaScale()
double JointPath::numericalIKdefaultDeltaScale |
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◆ numericalIKdefaultMaxIKerror()
double JointPath::numericalIKdefaultMaxIKerror |
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◆ numericalIKdefaultMaxIterations()
int JointPath::numericalIKdefaultMaxIterations |
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◆ numericalIKdefaultTruncateRatio()
double JointPath::numericalIKdefaultTruncateRatio |
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◆ numIterations()
int JointPath::numIterations |
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const |
◆ numJoints()
int cnoid::JointPath::numJoints |
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const |
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inline |
◆ onJointPathUpdated()
void JointPath::onJointPathUpdated |
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protectedvirtual |
◆ setBestEffortIKmode()
void JointPath::setBestEffortIKmode |
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bool |
on | ) |
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◆ setGoal() [1/2]
◆ setGoal() [2/2]
◆ setNumericalIKdampingConstant()
void JointPath::setNumericalIKdampingConstant |
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double |
lambda | ) |
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◆ setNumericalIKdeltaScale()
void JointPath::setNumericalIKdeltaScale |
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double |
s | ) |
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◆ setNumericalIKmaxIKerror()
void JointPath::setNumericalIKmaxIKerror |
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double |
e | ) |
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◆ setNumericalIKmaxIterations()
void JointPath::setNumericalIKmaxIterations |
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int |
n | ) |
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◆ setNumericalIKtruncateRatio()
void JointPath::setNumericalIKtruncateRatio |
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double |
r | ) |
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◆ setPath() [1/2]
bool JointPath::setPath |
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Link * |
base, |
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Link * |
end |
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) |
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◆ setPath() [2/2]
bool JointPath::setPath |
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Link * |
end | ) |
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◆ storeCurrentPosition()
JointPath& cnoid::JointPath::storeCurrentPosition |
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The documentation for this class was generated from the following files: