#include <BodyState.h>
Inheritance diagram for cnoid::BodyState:
Public Types | |
| enum | DataType { JOINT_POSITIONS, LINK_POSITIONS, JOINT_FORCE_OR_TORQUE, ZMP } |
 Public Types inherited from cnoid::DataMap< double > | |
| typedef std::vector< double, std::allocator< double > > | Data |
Public Member Functions | |
| BodyState () | |
| BodyState (const Body &body) | |
| void | storePositions (const Body &body) |
| bool | restorePositions (Body &io_body) const |
| void | setRootLinkPosition (const Position &T) |
| void | setRootLinkPosition (const SE3 &position) |
| bool | getRootLinkPosition (Position &out_T) const |
| bool | getRootLinkPosition (SE3 &out_position) const |
| void | setZMP (const Vector3 &zmp) |
| bool | getZMP (Vector3 &out_zmp) const |
| Public Member Functions inherited from cnoid::DataMap< double > | |
| Data & | data (int id) |
| const Data & | data (int id) const |
| bool | operator== (const DataMap< double, std::allocator< double > > &rhs) const |
| Public Member Functions inherited from cnoid::DataMapBase | |
| virtual | ~DataMapBase () |
| int | getDynamicID (const std::string &name) |
| const std::string & | getDynamicIDname (int id) |
Protected Member Functions | |
| virtual std::map< std::string, int > & | nameToIdMap () |
| virtual std::map< int, std::string > & | idToNameMap () |
| virtual int | nextDynamicId () |
Additional Inherited Members | |
| Static Public Attributes inherited from cnoid::DataMapBase | |
| static const int | MIN_DYNAMIC_ID = 10000 |
Detailed Description
- Todo:
- implement functions to store the state into ValueTree and restore the state from it
Member Enumeration Documentation
◆ DataType
Constructor & Destructor Documentation
◆ BodyState() [1/2]
| BodyState::BodyState | ( | ) |
◆ BodyState() [2/2]
| BodyState::BodyState | ( | const Body & | body | ) |
Member Function Documentation
◆ getRootLinkPosition() [1/2]
| bool BodyState::getRootLinkPosition | ( | Position & | out_T | ) | const |
◆ getRootLinkPosition() [2/2]
| bool BodyState::getRootLinkPosition | ( | SE3 & | out_position | ) | const |
◆ getZMP()
| bool BodyState::getZMP | ( | Vector3 & | out_zmp | ) | const |
◆ idToNameMap()
|
protectedvirtual |
Reimplemented from cnoid::DataMapBase.
◆ nameToIdMap()
|
protectedvirtual |
Reimplemented from cnoid::DataMapBase.
◆ nextDynamicId()
|
protectedvirtual |
Reimplemented from cnoid::DataMapBase.
◆ restorePositions()
| bool BodyState::restorePositions | ( | Body & | io_body | ) | const |
◆ setRootLinkPosition() [1/2]
| void BodyState::setRootLinkPosition | ( | const Position & | T | ) |
◆ setRootLinkPosition() [2/2]
| void BodyState::setRootLinkPosition | ( | const SE3 & | position | ) |
◆ setZMP()
| void BodyState::setZMP | ( | const Vector3 & | zmp | ) |
◆ storePositions()
| void BodyState::storePositions | ( | const Body & | body | ) |
The documentation for this class was generated from the following files:
