Choreonoid  1.5
Classes | Public Member Functions | List of all members
cnoid::LeggedBodyHelper Class Reference

#include <LeggedBodyHelper.h>

Inheritance diagram for cnoid::LeggedBodyHelper:
cnoid::Referenced

Public Member Functions

 LeggedBodyHelper ()
 
 LeggedBodyHelper (Body *body)
 
 LeggedBodyHelper (const LeggedBodyHelper &org)
 
bool isValid () const
 
virtual bool resetBody (Body *body)
 
virtual ~LeggedBodyHelper ()
 
Bodybody () const
 
int numFeet () const
 
LinkfootLink (int index) const
 
LinkkneePitchJoint (int footIndex) const
 
bool doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
 
bool setStance (double width, Link *baseLink)
 
const Vector3centerOfSoleLocal (int footIndex) const
 
Vector3 centerOfSole (int footIndex) const
 
Vector3 centerOfSoles () const
 
Vector3 homeCopOfSole (int footIndex) const
 
Vector3 homeCopOfSoles () const
 
- Public Member Functions inherited from cnoid::Referenced
virtual ~Referenced ()
 
void addRef ()
 
void releaseRef ()
 

Additional Inherited Members

- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &org)
 
int refCount () const
 

Constructor & Destructor Documentation

LeggedBodyHelper::LeggedBodyHelper ( )
LeggedBodyHelper::LeggedBodyHelper ( Body body)
LeggedBodyHelper::LeggedBodyHelper ( const LeggedBodyHelper org)
LeggedBodyHelper::~LeggedBodyHelper ( )
virtual

Member Function Documentation

Body* cnoid::LeggedBodyHelper::body ( ) const
inline
Vector3 LeggedBodyHelper::centerOfSole ( int  footIndex) const
const Vector3& cnoid::LeggedBodyHelper::centerOfSoleLocal ( int  footIndex) const
inline
Vector3 LeggedBodyHelper::centerOfSoles ( ) const
bool LeggedBodyHelper::doLegIkToMoveCm ( const Vector3 c,
bool  onlyProjectionToFloor = false 
)
Link* cnoid::LeggedBodyHelper::footLink ( int  index) const
inline
Vector3 LeggedBodyHelper::homeCopOfSole ( int  footIndex) const
Vector3 LeggedBodyHelper::homeCopOfSoles ( ) const
bool cnoid::LeggedBodyHelper::isValid ( ) const
inline
Link* cnoid::LeggedBodyHelper::kneePitchJoint ( int  footIndex) const
inline
int cnoid::LeggedBodyHelper::numFeet ( ) const
inline
bool LeggedBodyHelper::resetBody ( Body body)
virtual
bool LeggedBodyHelper::setStance ( double  width,
Link baseLink 
)

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