cnoid::JointPath Class Reference

#include <JointPath.h>

Inheritance diagram for cnoid::JointPath:

Public Member Functions
	JointPath ()
	JointPath (Link *base, Link *end)
	JointPath (Link *end)
virtual	~JointPath ()
bool	setPath (Link *base, Link *end)
bool	setPath (Link *end)
bool	find (Link *base, Link *end)
	Deprecated. Use "setPath()" instead of this. More...
bool	find (Link *end)
	Deprecated. Use "setPath()" instead of this. More...
bool	empty () const
int	numJoints () const
Link *	joint (int index) const
Link *	baseLink () const
Link *	endLink () const
bool	isJointDownward (int index) const
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
int	indexOf (const Link *link) const
bool	isBestEffortIKmode () const
void	setBestEffortIKmode (bool on)
void	setNumericalIKmaxIKerror (double e)
void	setNumericalIKdeltaScale (double s)
void	setNumericalIKmaxIterations (int n)
void	setNumericalIKdampingConstant (double lambda)
void	customizeTarget (int numTargetElements, boost::function< double(VectorXd &out_error)> errorFunc, boost::function< void(MatrixXd &out_Jacobian)> jacobianFunc)
virtual bool	hasAnalyticalIK () const
JointPath &	storeCurrentPosition ()
JointPath &	setGoal (const Vector3 &end_p, const Matrix3 &end_R)
JointPath &	setGoal (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
virtual bool	calcInverseKinematics ()
bool	calcNumericalIK ()
int	numIterations () const
void	calcJacobian (Eigen::MatrixXd &out_J) const
	deprecated More...
virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)
	deprecated More...
bool	calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
	deprecated More...
void	setNumericalIKtruncateRatio (double r)
	deprecated More...
Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()
virtual AxisSet	axisType () const

Static Public Member Functions
static double	numericalIKdefaultDeltaScale ()
static int	numericalIKdefaultMaxIterations ()
static double	numericalIKdefaultMaxIKerror ()
static double	numericalIKdefaultDampingConstant ()
static double	numericalIKdefaultTruncateRatio ()
	deprecated More...

Protected Member Functions
virtual void	onJointPathUpdated ()

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

JointPath() [1/3]

JointPath::JointPath

(

)

JointPath() [2/3]

JointPath::JointPath	(	Link *	base,
		Link *	end
	)

JointPath() [3/3]

JointPath::JointPath

(

Link *

end

)

~JointPath()

JointPath::~JointPath ( )

virtual

Member Function Documentation

baseLink()

Link* cnoid::JointPath::baseLink ( ) const

inline

calcForwardKinematics()

void cnoid::JointPath::calcForwardKinematics ( bool  calcVelocity = false, bool  calcAcceleration = false  ) const

inline

calcInverseKinematics() [1/3]

bool JointPath::calcInverseKinematics ( )

virtual

calcInverseKinematics() [2/3]

bool JointPath::calcInverseKinematics ( const Vector3 &  end_p, const Matrix3 &  end_R  )

virtual

deprecated

Implements cnoid::InverseKinematics.

calcInverseKinematics() [3/3]

bool JointPath::calcInverseKinematics	(	const Vector3 &	base_p,
		const Matrix3 &	base_R,
		const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

deprecated

calcJacobian()

void JointPath::calcJacobian

(

Eigen::MatrixXd &

out_J

)

const

deprecated

Todo:

compare the efficiency for the following codes

calcNumericalIK()

bool cnoid::JointPath::calcNumericalIK ( )

inline

customizeTarget()

void JointPath::customizeTarget	(	int	numTargetElements,
		boost::function< double(VectorXd &out_error)>	errorFunc,
		boost::function< void(MatrixXd &out_Jacobian)>	jacobianFunc
	)

empty()

bool cnoid::JointPath::empty ( ) const

inline

endLink()

Link* cnoid::JointPath::endLink ( ) const

inline

find() [1/2]

bool cnoid::JointPath::find ( Link *  base, Link *  end  )

inline

Deprecated. Use "setPath()" instead of this.

find() [2/2]

bool cnoid::JointPath::find ( Link *  end )

inline

Deprecated. Use "setPath()" instead of this.

hasAnalyticalIK()

bool JointPath::hasAnalyticalIK ( ) const

virtual

indexOf()

int JointPath::indexOf

(

const Link *

link

)

const

isBestEffortIKmode()

bool JointPath::isBestEffortIKmode

(

)

const

isJointDownward()

bool cnoid::JointPath::isJointDownward ( int  index ) const

inline

joint()

Link* cnoid::JointPath::joint ( int  index ) const

inline

numericalIKdefaultDampingConstant()

double JointPath::numericalIKdefaultDampingConstant ( )

static

numericalIKdefaultDeltaScale()

double JointPath::numericalIKdefaultDeltaScale ( )

static

numericalIKdefaultMaxIKerror()

double JointPath::numericalIKdefaultMaxIKerror ( )

static

numericalIKdefaultMaxIterations()

int JointPath::numericalIKdefaultMaxIterations ( )

static

numericalIKdefaultTruncateRatio()

double JointPath::numericalIKdefaultTruncateRatio ( )

static

deprecated

numIterations()

int JointPath::numIterations

(

)

const

numJoints()

int cnoid::JointPath::numJoints ( ) const

inline

onJointPathUpdated()

void JointPath::onJointPathUpdated ( )

protectedvirtual

setBestEffortIKmode()

void JointPath::setBestEffortIKmode

(

bool

on

)

setGoal() [1/2]

JointPath& cnoid::JointPath::setGoal ( const Vector3 &  end_p, const Matrix3 &  end_R  )

inline

setGoal() [2/2]

JointPath & JointPath::setGoal	(	const Vector3 &	base_p,
		const Matrix3 &	base_R,
		const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

setNumericalIKdampingConstant()

void JointPath::setNumericalIKdampingConstant

(

double

lambda

)

setNumericalIKdeltaScale()

void JointPath::setNumericalIKdeltaScale

(

double

s

)

setNumericalIKmaxIKerror()

void JointPath::setNumericalIKmaxIKerror

(

double

e

)

setNumericalIKmaxIterations()

void JointPath::setNumericalIKmaxIterations

(

int

n

)

setNumericalIKtruncateRatio()

void JointPath::setNumericalIKtruncateRatio

(

double

r

)

deprecated

setPath() [1/2]

bool JointPath::setPath	(	Link *	base,
		Link *	end
	)

setPath() [2/2]

bool JointPath::setPath

(

Link *

end

)

storeCurrentPosition()

JointPath& cnoid::JointPath::storeCurrentPosition

(

)

---

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

• JointPath.h
• JointPath.cpp