cnoid::PoseSeqInterpolator Class Reference

#include <PoseSeqInterpolator.h>

Inheritance diagram for cnoid::PoseSeqInterpolator:

Public Member Functions
	PoseSeqInterpolator ()
void	setBody (Body *body)
Body *	body () const
void	setLinearInterpolationJoint (int jointId)
void	addFootLink (int linkIndex, const Vector3 &soleCenter)
void	setLipSyncShapes (const Mapping &info)
const std::vector< int > &	lipSyncLinkIndices ()
void	setPoseSeq (PoseSeqPtr seq)
void	setTimeScaleRatio (double ratio)
double	beginningTime () const
double	endingTime () const
void	enableStealthyStepMode (bool on)
void	setStealthyStepParameters (double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime)
void	enableAutoZmpAdjustmentMode (bool on)
void	setZmpAdjustmentParameters (double minTransitionTime, double centeringTimeThresh, double timeMarginBeforeLifting, double maxDistanceFromCenter)
void	enableLipSyncMix (bool on)
void	setAutoUpdateMode (bool on)
bool	update ()
SignalProxy< void()>	sigUpdated ()
bool	interpolate (double time)
bool	interpolate (double time, int waistLinkIndex, const Vector3 &waistTranslation)
virtual bool	seek (double time)
virtual bool	seek (double time, int waistLinkIndex, const Vector3 &waistTranslation)
int	baseLinkIndex () const
virtual bool	getBaseLinkPosition (Position &out_T) const
boost::optional< double >	jointPosition (int jointId) const
boost::optional< Vector3 >	ZMP () const
virtual void	getJointPositions (std::vector< boost::optional< double > > &out_q) const
Public Member Functions inherited from cnoid::PoseProvider
virtual	~PoseProvider ()

Constructor & Destructor Documentation

PoseSeqInterpolator()

PoseSeqInterpolator::PoseSeqInterpolator

(

)

Member Function Documentation

addFootLink()

void PoseSeqInterpolator::addFootLink	(	int	linkIndex,
		const Vector3 &	soleCenter
	)

baseLinkIndex()

int PoseSeqInterpolator::baseLinkIndex ( ) const

virtual

Returns

-1 if base link is not set for the time segment

Implements cnoid::PoseProvider.

beginningTime()

double PoseSeqInterpolator::beginningTime ( ) const

virtual

Implements cnoid::PoseProvider.

body()

Body * PoseSeqInterpolator::body ( ) const

virtual

Implements cnoid::PoseProvider.

enableAutoZmpAdjustmentMode()

void PoseSeqInterpolator::enableAutoZmpAdjustmentMode

(

bool

on

)

enableLipSyncMix()

void PoseSeqInterpolator::enableLipSyncMix

(

bool

on

)

enableStealthyStepMode()

void PoseSeqInterpolator::enableStealthyStepMode

(

bool

on

)

endingTime()

double PoseSeqInterpolator::endingTime ( ) const

virtual

Implements cnoid::PoseProvider.

getBaseLinkPosition()

bool PoseSeqInterpolator::getBaseLinkPosition ( Position &  out_T ) const

virtual

Implements cnoid::PoseProvider.

getJointPositions()

void PoseSeqInterpolator::getJointPositions ( std::vector< boost::optional< double > > &  out_q ) const

virtual

Implements cnoid::PoseProvider.

interpolate() [1/2]

bool PoseSeqInterpolator::interpolate

(

double

time

)

interpolate() [2/2]

bool PoseSeqInterpolator::interpolate	(	double	time,
		int	waistLinkIndex,
		const Vector3 &	waistTranslation
	)

Parameters

waistLinkIndex	A link that is translated for maintaing the dynamic balance
waistTranslation	translation of the balancing link usually provided by the waist balance filter

jointPosition()

boost::optional< double > PoseSeqInterpolator::jointPosition

(

int

jointId

)

const

lipSyncLinkIndices()

const std::vector< int > & PoseSeqInterpolator::lipSyncLinkIndices

(

)

seek() [1/2]

bool PoseSeqInterpolator::seek ( double  time )

virtual

Implements cnoid::PoseProvider.

seek() [2/2]

bool PoseSeqInterpolator::seek ( double  time, int  waistLinkIndex, const Vector3 &  waistTranslation  )

virtual

A virtual function of the WaistTranslator interface

Implements cnoid::PoseProvider.

setAutoUpdateMode()

void cnoid::PoseSeqInterpolator::setAutoUpdateMode

(

bool

on

)

This function has not been implemented yet.

setBody()

void PoseSeqInterpolator::setBody

(

Body *

body

)

setLinearInterpolationJoint()

void PoseSeqInterpolator::setLinearInterpolationJoint

(

int

jointId

)

setLipSyncShapes()

void PoseSeqInterpolator::setLipSyncShapes

(

const Mapping &

info

)

setPoseSeq()

void PoseSeqInterpolator::setPoseSeq

(

PoseSeqPtr

seq

)

setStealthyStepParameters()

void PoseSeqInterpolator::setStealthyStepParameters	(	double	heightRatioThresh,
		double	flatLiftingHeight,
		double	flatLandingHeight,
		double	impactReductionHeight,
		double	impactReductionTime
	)

setTimeScaleRatio()

void PoseSeqInterpolator::setTimeScaleRatio

(

double

ratio

)

setZmpAdjustmentParameters()

void PoseSeqInterpolator::setZmpAdjustmentParameters	(	double	minTransitionTime,
		double	centeringTimeThresh,
		double	timeMarginBeforeLifting,
		double	maxDistanceFromCenter
	)

sigUpdated()

SignalProxy< void()> PoseSeqInterpolator::sigUpdated

(

)

update()

bool PoseSeqInterpolator::update

(

)

ZMP()

boost::optional< Vector3 > PoseSeqInterpolator::ZMP ( ) const

virtual

Implements cnoid::PoseProvider.

---

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

• PoseSeqInterpolator.h
• PoseSeqInterpolator.cpp