cnoid::BodyItem Class Reference

#include <BodyItem.h>

Inheritance diagram for cnoid::BodyItem:

Public Types
enum	PresetPoseID { INITIAL_POSE, STANDARD_POSE }
enum	PositionType {   CM_PROJECTION, HOME_COP, RIGHT_HOME_COP, LEFT_HOME_COP,   ZERO_MOMENT_POINT }
Public Types inherited from cnoid::Item
enum	Attribute { SUB_ITEM, TEMPORAL, LOAD_ONLY, NUM_ATTRIBUTES }

Public Member Functions
	BodyItem ()
	BodyItem (const BodyItem &org)
virtual	~BodyItem ()
bool	loadModelFile (const std::string &filename)
virtual void	setName (const std::string &name)
Body *	body () const
bool	isEditable () const
void	setEditable (bool on)
void	moveToOrigin ()
void	setPresetPose (PresetPoseID id)
Link *	currentBaseLink () const
void	setCurrentBaseLink (Link *link)
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void	copyKinematicState ()
void	pasteKinematicState ()
void	storeKinematicState (BodyState &state)
bool	restoreKinematicState (const BodyState &state)
void	storeInitialState ()
void	restoreInitialState (bool doNotify=true)
void	getInitialState (BodyState &out_state)
void	setInitialState (const BodyState &in_state)
void	beginKinematicStateEdit ()
void	acceptKinematicStateEdit ()
bool	undoKinematicState ()
bool	redoKinematicState ()
PinDragIKptr	pinDragIK ()
InverseKinematicsPtr	getCurrentIK (Link *targetLink)
InverseKinematicsPtr	getDefaultIK (Link *targetLink)
PenetrationBlockerPtr	createPenetrationBlocker (Link *link, bool excludeSelfCollisions=false)
SignalProxy< void()>	sigModelUpdated ()
void	notifyModelUpdate ()
SignalProxy< void()>	sigKinematicStateChanged ()
void	notifyKinematicStateChange (bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
void	notifyKinematicStateChange (Connection &connectionToBlock, bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
SignalProxy< void()>	sigKinematicStateEdited ()
void	enableCollisionDetection (bool on)
bool	isCollisionDetectionEnabled () const
void	enableSelfCollisionDetection (bool on)
bool	isSelfCollisionDetectionEnabled () const
void	clearCollisions ()
std::vector< CollisionLinkPairPtr > &	collisions ()
const std::vector< CollisionLinkPairPtr > &	collisions () const
boost::dynamic_bitset &	collisionLinkBitSet ()
const boost::dynamic_bitset &	collisionLinkBitSet () const
std::vector< CollisionLinkPairPtr > &	collisionsOfLink (int linkIndex)
const std::vector< CollisionLinkPairPtr > &	collisionsOfLink (int linkIndex) const
SignalProxy< void()>	sigCollisionsUpdated ()
void	notifyCollisionUpdate ()
const Vector3 &	centerOfMass ()
bool	isLeggedBody () const
bool	doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
const Vector3 &	zmp () const
void	setZmp (const Vector3 &zmp)
void	editZmp (const Vector3 &zmp)
boost::optional< Vector3 >	getParticularPosition (PositionType posType)
bool	setStance (double width)
virtual SgNode *	getScene ()
EditableSceneBody *	sceneBody ()
EditableSceneBody *	existingSceneBody ()
Public Member Functions inherited from cnoid::Item
virtual	~Item ()
const std::string &	name () const
bool	hasAttribute (Attribute attribute) const
Item *	childItem () const
Item *	prevItem () const
Item *	nextItem () const
Item *	parentItem () const
bool	addChildItem (Item *item, bool isManualOperation=false)
bool	addSubItem (Item *item)
bool	isSubItem () const
void	detachFromParentItem ()
void	emitSigDetachedFromRootForSubTree ()
bool	insertChildItem (Item *item, Item *nextItem, bool isManualOperation=false)
bool	insertSubItem (Item *item, Item *nextItem)
bool	isTemporal () const
void	setTemporal (bool on=true)
RootItem *	findRootItem () const
Item *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	find (const std::string &path)
Item *	findChildItem (const std::string &path) const
template<class ItemType >
ItemType *	findChildItem (const std::string &path) const
Item *	findSubItem (const std::string &path) const
template<class ItemType >
ItemType *	findSubItem (const std::string &path) const
Item *	headItem () const
template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false)
bool	isOwnedBy (Item *item) const
bool	traverse (boost::function< bool(Item *)> function)
template<class ItemType >
bool	traverse (boost::function< bool(ItemType *item)> function)
Item *	duplicate () const
Item *	duplicateAll () const
void	assign (Item *srcItem)
bool	load (const std::string &filename, const std::string &format=std::string())
bool	load (const std::string &filename, Item *parent, const std::string &format=std::string())
bool	save (const std::string &filename, const std::string &format=std::string())
bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())
const std::string &	filePath () const
const std::string &	fileFormat () const
std::time_t	fileModificationTime () const
bool	isConsistentWithFile () const
void	clearFileInformation ()
void	suggestFileUpdate ()
void	putProperties (PutPropertyFunction &putProperty)
virtual void	notifyUpdate ()
SignalProxy< void(const std::string &oldName)>	sigNameChanged ()
SignalProxy< void()>	sigUpdated ()
SignalProxy< void()>	sigPositionChanged ()
SignalProxy< void()>	sigDetachedFromRoot ()
SignalProxy< void()>	sigDisconnectedFromRoot ()
SignalProxy< void()>	sigSubTreeChanged ()
Referenced *	customData (int id)
const Referenced *	customData (int id) const
void	setCustomData (int id, ReferencedPtr data)
void	clearCustomData (int id)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()
void	addRef ()
void	releaseRef ()
Public Member Functions inherited from cnoid::SceneProvider
virtual	~SceneProvider ()
virtual SgNode *	getScene (SgCloneMap &cloneMap)

Static Public Member Functions
static void	initializeClass (ExtensionManager *ext)
Static Public Member Functions inherited from cnoid::Item
static Item *	find (const std::string &path)
static SignalProxy< void(const char *type_info_name)>	sigClassUnregistered ()

Protected Member Functions
virtual Item *	doDuplicate () const
virtual void	doAssign (Item *item)
virtual void	doPutProperties (PutPropertyFunction &putProperty)
virtual bool	store (Archive &archive)
virtual bool	restore (const Archive &archive)
Protected Member Functions inherited from cnoid::Item
	Item ()
	Item (const Item &item)
virtual void	onConnectedToRoot ()
virtual void	onDisconnectedFromRoot ()
virtual void	onPositionChanged ()
virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)
void	setAttribute (Attribute attribute)
void	unsetAttribute (Attribute attribute)
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &org)
int	refCount () const

Friends
class	BodyItemImpl
class	PyBodyPlugin

Member Enumeration Documentation

PositionType

enum cnoid::BodyItem::PositionType

Enumerator
CM_PROJECTION
HOME_COP
RIGHT_HOME_COP
LEFT_HOME_COP
ZERO_MOMENT_POINT

PresetPoseID

enum cnoid::BodyItem::PresetPoseID

Enumerator
INITIAL_POSE
STANDARD_POSE

Constructor & Destructor Documentation

BodyItem() [1/2]

BodyItem::BodyItem

(

)

BodyItem() [2/2]

BodyItem::BodyItem

(

const BodyItem &

org

)

~BodyItem()

BodyItem::~BodyItem ( )

virtual

Member Function Documentation

acceptKinematicStateEdit()

void BodyItem::acceptKinematicStateEdit

(

)

beginKinematicStateEdit()

void BodyItem::beginKinematicStateEdit

(

)

body()

Body * BodyItem::body

(

)

const

calcForwardKinematics()

void BodyItem::calcForwardKinematics	(	bool	calcVelocity = false,
		bool	calcAcceleration = false
	)

Forward kinematics from the current base link is done.

centerOfMass()

const Vector3 & BodyItem::centerOfMass

(

)

clearCollisions()

void BodyItem::clearCollisions

(

)

collisionLinkBitSet() [1/2]

boost::dynamic_bitset& cnoid::BodyItem::collisionLinkBitSet ( )

inline

collisionLinkBitSet() [2/2]

const boost::dynamic_bitset& cnoid::BodyItem::collisionLinkBitSet ( ) const

inline

collisions() [1/2]

std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisions ( )

inline

collisions() [2/2]

const std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisions ( ) const

inline

collisionsOfLink() [1/2]

std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisionsOfLink ( int  linkIndex )

inline

collisionsOfLink() [2/2]

const std::vector<CollisionLinkPairPtr>& cnoid::BodyItem::collisionsOfLink ( int  linkIndex ) const

inline

copyKinematicState()

void BodyItem::copyKinematicState

(

)

createPenetrationBlocker()

PenetrationBlockerPtr BodyItem::createPenetrationBlocker	(	Link *	link,
		bool	excludeSelfCollisions = false
	)

currentBaseLink()

Link * BodyItem::currentBaseLink

(

)

const

doAssign()

void BodyItem::doAssign ( Item *  srcItem )

protectedvirtual

Implement the code to copy properties like the assingment operator

Reimplemented from cnoid::Item.

doDuplicate()

Item * BodyItem::doDuplicate ( ) const

protectedvirtual

Override this function to allow duplication of an instance.

Reimplemented from cnoid::Item.

doLegIkToMoveCm()

bool BodyItem::doLegIkToMoveCm	(	const Vector3 &	c,
		bool	onlyProjectionToFloor = false
	)

Todo:

use getDefaultIK() if the kinematics bar is in the AUTO mode.

doPutProperties()

void BodyItem::doPutProperties ( PutPropertyFunction &  putProperty )

protectedvirtual

Override this function to put properties of the item.

Note

Please call doPutProperties() of the parent class in this function. For example, when your class directly inherits the Item class, call Item::doPutProperties(putProperty).

Reimplemented from cnoid::Item.

editZmp()

void BodyItem::editZmp

(

const Vector3 &

zmp

)

enableCollisionDetection()

void BodyItem::enableCollisionDetection

(

bool

on

)

enableSelfCollisionDetection()

void BodyItem::enableSelfCollisionDetection

(

bool

on

)

existingSceneBody()

EditableSceneBody * BodyItem::existingSceneBody

(

)

getCurrentIK()

InverseKinematicsPtr BodyItem::getCurrentIK

(

Link *

targetLink

)

getDefaultIK()

InverseKinematicsPtr BodyItem::getDefaultIK

(

Link *

targetLink

)

getInitialState()

void BodyItem::getInitialState

(

BodyState &

out_state

)

getParticularPosition()

boost::optional< Vector3 > BodyItem::getParticularPosition

(

PositionType

posType

)

getScene()

SgNode * BodyItem::getScene ( )

virtual

If the scene has some state that affect the rendering, the scene node should be cloned for each call of this function. Otherwise, the same instance can be returned.

Implements cnoid::SceneProvider.

initializeClass()

void BodyItem::initializeClass ( ExtensionManager *  ext )

static

isCollisionDetectionEnabled()

bool BodyItem::isCollisionDetectionEnabled

(

)

const

isEditable()

bool BodyItem::isEditable

(

)

const

isLeggedBody()

bool BodyItem::isLeggedBody

(

)

const

isSelfCollisionDetectionEnabled()

bool BodyItem::isSelfCollisionDetectionEnabled

(

)

const

loadModelFile()

bool BodyItem::loadModelFile

(

const std::string &

filename

)

moveToOrigin()

void BodyItem::moveToOrigin

(

)

notifyCollisionUpdate()

void cnoid::BodyItem::notifyCollisionUpdate ( )

inline

notifyKinematicStateChange() [1/2]

void BodyItem::notifyKinematicStateChange	(	bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyKinematicStateChange() [2/2]

void BodyItem::notifyKinematicStateChange	(	Connection &	connectionToBlock,
		bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

notifyModelUpdate()

void BodyItem::notifyModelUpdate

(

)

pasteKinematicState()

void BodyItem::pasteKinematicState

(

)

pinDragIK()

PinDragIKptr BodyItem::pinDragIK

(

)

redoKinematicState()

bool BodyItem::redoKinematicState

(

)

restore()

bool BodyItem::restore ( const Archive &  archive )

protectedvirtual

Reimplemented from cnoid::Item.

restoreInitialState()

void BodyItem::restoreInitialState

(

bool

doNotify = true

)

restoreKinematicState()

bool BodyItem::restoreKinematicState

(

const BodyState &

state

)

Returns

false if the restored state is same as the current state

sceneBody()

EditableSceneBody * BodyItem::sceneBody

(

)

setCurrentBaseLink()

void BodyItem::setCurrentBaseLink

(

Link *

link

)

setEditable()

void BodyItem::setEditable

(

bool

on

)

setInitialState()

void cnoid::BodyItem::setInitialState

(

const BodyState &

in_state

)

setName()

void BodyItem::setName ( const std::string &  name )

virtual

Reimplemented from cnoid::Item.

setPresetPose()

void BodyItem::setPresetPose

(

PresetPoseID

id

)

setStance()

bool BodyItem::setStance

(

double

width

)

setZmp()

void BodyItem::setZmp

(

const Vector3 &

zmp

)

sigCollisionsUpdated()

SignalProxy<void()> cnoid::BodyItem::sigCollisionsUpdated ( )

inline

sigKinematicStateChanged()

SignalProxy< void()> BodyItem::sigKinematicStateChanged

(

)

sigKinematicStateEdited()

SignalProxy< void()> BodyItem::sigKinematicStateEdited

(

)

sigModelUpdated()

SignalProxy< void()> BodyItem::sigModelUpdated

(

)

store()

bool BodyItem::store ( Archive &  archive )

protectedvirtual

Reimplemented from cnoid::Item.

storeInitialState()

void BodyItem::storeInitialState

(

)

storeKinematicState()

void BodyItem::storeKinematicState

(

BodyState &

state

)

undoKinematicState()

bool BodyItem::undoKinematicState

(

)

zmp()

const Vector3 & BodyItem::zmp

(

)

const

Friends And Related Function Documentation

BodyItemImpl

friend class BodyItemImpl

friend

PyBodyPlugin

friend class PyBodyPlugin

friend

---

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

• BodyItem.h
• BodyItem.cpp