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src
Body
BodyState.h
Go to the documentation of this file.
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#ifndef CNOID_BODY_BODY_STATE_H
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#define CNOID_BODY_BODY_STATE_H
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#include <cnoid/EigenTypes>
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#include <cnoid/DataMap>
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#include "
exportdecl.h
"
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namespace
cnoid
{
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class
Body;
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class
CNOID_EXPORT
BodyState
:
public
DataMap
<double>
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{
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public
:
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enum
DataType
{
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JOINT_POSITIONS
,
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LINK_POSITIONS
,
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JOINT_FORCE_OR_TORQUE
,
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ZMP
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};
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BodyState
();
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BodyState
(
const
Body
& body);
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void
storePositions(
const
Body
& body);
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bool
restorePositions(
Body
& io_body)
const
;
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void
setRootLinkPosition(
const
Position
& T);
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void
setRootLinkPosition(
const
SE3
& position);
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bool
getRootLinkPosition(
Position
& out_T)
const
;
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bool
getRootLinkPosition(
SE3
& out_position)
const
;
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void
setZMP(
const
Vector3
& zmp);
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bool
getZMP(
Vector3
& out_zmp)
const
;
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#ifdef CNOID_BACKWARD_COMPATIBILITY
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void
setRootLinkPosition(
const
Vector3
& translation,
const
Matrix3
& rotation);
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bool
getRootLinkPosition(
Vector3
& translation,
Matrix3
& rotation)
const
;
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#endif
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protected
:
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virtual
std::map<std::string, int>& nameToIdMap();
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virtual
std::map<int, std::string>& idToNameMap();
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virtual
int
nextDynamicId();
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};
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};
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#endif
cnoid::Body
Definition:
Body.h:28
cnoid::DataMap
Definition:
DataMap.h:33
cnoid::BodyState::DataType
DataType
Definition:
BodyState.h:23
cnoid::BodyState::LINK_POSITIONS
Definition:
BodyState.h:25
cnoid::BodyState::JOINT_FORCE_OR_TORQUE
Definition:
BodyState.h:26
cnoid::Position
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition:
EigenTypes.h:73
cnoid::SE3
Definition:
EigenTypes.h:80
cnoid
Defines the minimum processing for performing pasing file for STL.
Definition:
AbstractSceneLoader.h:9
cnoid::Vector3
Eigen::Vector3d Vector3
Definition:
EigenTypes.h:58
CNOID_EXPORT
#define CNOID_EXPORT
Definition:
Util/exportdecl.h:37
cnoid::BodyState
Definition:
BodyState.h:20
cnoid::BodyState::JOINT_POSITIONS
Definition:
BodyState.h:24
exportdecl.h
cnoid::Matrix3
Eigen::Matrix3d Matrix3
Definition:
EigenTypes.h:57
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