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

#include <PinDragIK.h>

Inheritance diagram for cnoid::PinDragIK:
cnoid::InverseKinematics

Public Member Functions

 PinDragIK (Body *body)
 
 ~PinDragIK ()
 
Bodybody () const
 
void setBaseLink (Link *baseLink)
 
void setFreeRootWeight (double translation, double rotation)
 
void setTargetLink (Link *targetLink, bool isAttitudeEnabled=false)
 
void setJointWeight (int jointId, double weight)
 
void setPin (Link *link, InverseKinematics::AxisSet axes=InverseKinematics::TRANSLATION_3D, double weight=1.0)
 
InverseKinematics::AxisSet pinAxes (Link *link)
 
void clearPins ()
 
int numPinnedLinks ()
 
virtual void setIKErrorThresh (double e)
 
virtual bool hasAnalyticalIK ()
 
virtual InverseKinematics::AxisSet targetAxes () const
 
void setSRInverseParameters (double k0, double w0)
 
void enableJointRangeConstraints (bool on)
 
bool initialize ()
 
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
 
- Public Member Functions inherited from cnoid::InverseKinematics
virtual ~InverseKinematics ()
 
virtual AxisSet axisType () const
 

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

PinDragIK::PinDragIK ( Body body)
PinDragIK::~PinDragIK ( )

Member Function Documentation

Body * PinDragIK::body ( ) const
bool PinDragIK::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual
Todo:
This should be "bool calcInverseKinematics(const Position& T) = 0

Implements cnoid::InverseKinematics.

void PinDragIK::clearPins ( )
void PinDragIK::enableJointRangeConstraints ( bool  on)
bool PinDragIK::hasAnalyticalIK ( )
virtual
bool PinDragIK::initialize ( void  )

this must be called before the initial calcInverseKinematics() call after settings have been changed.

int PinDragIK::numPinnedLinks ( )
InverseKinematics::AxisSet PinDragIK::pinAxes ( Link link)
void PinDragIK::setBaseLink ( Link baseLink)
void PinDragIK::setFreeRootWeight ( double  translation,
double  rotation 
)
void PinDragIK::setIKErrorThresh ( double  e)
virtual
void PinDragIK::setJointWeight ( int  jointId,
double  weight 
)
void PinDragIK::setPin ( Link link,
InverseKinematics::AxisSet  axes = InverseKinematics::TRANSLATION_3D,
double  weight = 1.0 
)
void PinDragIK::setSRInverseParameters ( double  k0,
double  w0 
)
void PinDragIK::setTargetLink ( Link targetLink,
bool  isAttitudeEnabled = false 
)
InverseKinematics::AxisSet PinDragIK::targetAxes ( ) const
virtual

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