Choreonoid  1.5
Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
cnoid::JointPath Class Reference

#include <JointPath.h>

Inheritance diagram for cnoid::JointPath:
cnoid::InverseKinematics

Public Member Functions

 JointPath ()
 
 JointPath (Link *base, Link *end)
 
 JointPath (Link *end)
 
virtual ~JointPath ()
 
bool setPath (Link *base, Link *end)
 
bool setPath (Link *end)
 
bool find (Link *base, Link *end)
 Deprecated. Use "setPath()" instead of this. More...
 
bool find (Link *end)
 Deprecated. Use "setPath()" instead of this. More...
 
bool empty () const
 
int numJoints () const
 
Linkjoint (int index) const
 
LinkbaseLink () const
 
LinkendLink () const
 
bool isJointDownward (int index) const
 
void calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
 
int indexOf (const Link *link) const
 
bool isBestEffortIKmode () const
 
void setBestEffortIKmode (bool on)
 
void setNumericalIKmaxIKerror (double e)
 
void setNumericalIKdeltaScale (double s)
 
void setNumericalIKmaxIterations (int n)
 
void setNumericalIKdampingConstant (double lambda)
 
void customizeTarget (int numTargetElements, boost::function< double(VectorXd &out_error)> errorFunc, boost::function< void(MatrixXd &out_Jacobian)> jacobianFunc)
 
virtual bool hasAnalyticalIK () const
 
JointPathstoreCurrentPosition ()
 
JointPathsetGoal (const Vector3 &end_p, const Matrix3 &end_R)
 
JointPathsetGoal (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
 
virtual bool calcInverseKinematics ()
 
bool calcNumericalIK ()
 
int numIterations () const
 
void calcJacobian (Eigen::MatrixXd &out_J) const
 deprecated More...
 
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
 deprecated More...
 
bool calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
 deprecated More...
 
void setNumericalIKtruncateRatio (double r)
 deprecated More...
 
- Public Member Functions inherited from cnoid::InverseKinematics
virtual ~InverseKinematics ()
 
virtual AxisSet axisType () const
 

Static Public Member Functions

static double numericalIKdefaultDeltaScale ()
 
static int numericalIKdefaultMaxIterations ()
 
static double numericalIKdefaultMaxIKerror ()
 
static double numericalIKdefaultDampingConstant ()
 
static double numericalIKdefaultTruncateRatio ()
 deprecated More...
 

Protected Member Functions

virtual void onJointPathUpdated ()
 

Additional Inherited Members

- Public Types inherited from cnoid::InverseKinematics
enum  AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }
 

Constructor & Destructor Documentation

JointPath::JointPath ( )
JointPath::JointPath ( Link base,
Link end 
)
JointPath::JointPath ( Link end)
JointPath::~JointPath ( )
virtual

Member Function Documentation

Link* cnoid::JointPath::baseLink ( ) const
inline
void cnoid::JointPath::calcForwardKinematics ( bool  calcVelocity = false,
bool  calcAcceleration = false 
) const
inline
bool JointPath::calcInverseKinematics ( )
virtual
bool JointPath::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual

deprecated

Implements cnoid::InverseKinematics.

bool JointPath::calcInverseKinematics ( const Vector3 base_p,
const Matrix3 base_R,
const Vector3 end_p,
const Matrix3 end_R 
)

deprecated

void JointPath::calcJacobian ( Eigen::MatrixXd &  out_J) const

deprecated

Todo:
compare the efficiency for the following codes
bool cnoid::JointPath::calcNumericalIK ( )
inline
void JointPath::customizeTarget ( int  numTargetElements,
boost::function< double(VectorXd &out_error)>  errorFunc,
boost::function< void(MatrixXd &out_Jacobian)>  jacobianFunc 
)
bool cnoid::JointPath::empty ( ) const
inline
Link* cnoid::JointPath::endLink ( ) const
inline
bool cnoid::JointPath::find ( Link base,
Link end 
)
inline

Deprecated. Use "setPath()" instead of this.

bool cnoid::JointPath::find ( Link end)
inline

Deprecated. Use "setPath()" instead of this.

bool JointPath::hasAnalyticalIK ( ) const
virtual
int JointPath::indexOf ( const Link link) const
bool JointPath::isBestEffortIKmode ( ) const
bool cnoid::JointPath::isJointDownward ( int  index) const
inline
Link* cnoid::JointPath::joint ( int  index) const
inline
double JointPath::numericalIKdefaultDampingConstant ( )
static
double JointPath::numericalIKdefaultDeltaScale ( )
static
double JointPath::numericalIKdefaultMaxIKerror ( )
static
int JointPath::numericalIKdefaultMaxIterations ( )
static
double JointPath::numericalIKdefaultTruncateRatio ( )
static

deprecated

int JointPath::numIterations ( ) const
int cnoid::JointPath::numJoints ( ) const
inline
void JointPath::onJointPathUpdated ( )
protectedvirtual
void JointPath::setBestEffortIKmode ( bool  on)
JointPath& cnoid::JointPath::setGoal ( const Vector3 end_p,
const Matrix3 end_R 
)
inline
JointPath & JointPath::setGoal ( const Vector3 base_p,
const Matrix3 base_R,
const Vector3 end_p,
const Matrix3 end_R 
)
void JointPath::setNumericalIKdampingConstant ( double  lambda)
void JointPath::setNumericalIKdeltaScale ( double  s)
void JointPath::setNumericalIKmaxIKerror ( double  e)
void JointPath::setNumericalIKmaxIterations ( int  n)
void JointPath::setNumericalIKtruncateRatio ( double  r)

deprecated

bool JointPath::setPath ( Link base,
Link end 
)
bool JointPath::setPath ( Link end)
JointPath& cnoid::JointPath::storeCurrentPosition ( )

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