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

#include <CompositeIK.h>

Inheritance diagram for cnoid::CompositeIK:
cnoid::InverseKinematics

Public Member Functions

 CompositeIK ()
 
 CompositeIK (Body *body, Link *targetLink)
 
 ~CompositeIK ()
 
void reset (Body *body, Link *targetLink)
 
bool addBaseLink (Link *link)
 
void setMaxIKerror (double e)
 
Bodybody () const
 
LinktargetLink () const
 
int numJointPaths () const
 
JointPathPtr jointPath (int index) const
 
LinkbaseLink (int index) const
 
virtual bool hasAnalyticalIK () const
 
virtual bool calcInverseKinematics (const Vector3 &p, const Matrix3 &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

CompositeIK::CompositeIK ( )
CompositeIK::CompositeIK ( Body body,
Link targetLink 
)
CompositeIK::~CompositeIK ( )

Member Function Documentation

bool CompositeIK::addBaseLink ( Link link)
Link* cnoid::CompositeIK::baseLink ( int  index) const
inline
Body* cnoid::CompositeIK::body ( ) const
inline
bool CompositeIK::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
virtual
Todo:
This should be "bool calcInverseKinematics(const Position& T) = 0

Implements cnoid::InverseKinematics.

bool CompositeIK::hasAnalyticalIK ( ) const
virtual
JointPathPtr cnoid::CompositeIK::jointPath ( int  index) const
inline
int cnoid::CompositeIK::numJointPaths ( ) const
inline
void CompositeIK::reset ( Body body,
Link targetLink 
)
void CompositeIK::setMaxIKerror ( double  e)
Link* cnoid::CompositeIK::targetLink ( ) const
inline

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