Choreonoid  1.8
Public Member Functions | List of all members
cnoid::BodyMotionPoseProvider Class Reference

#include <BodyMotionPoseProvider.h>

Inheritance diagram for cnoid::BodyMotionPoseProvider:
cnoid::PoseProvider

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW BodyMotionPoseProvider ()
 
 BodyMotionPoseProvider (Body *body, std::shared_ptr< BodyMotion > motion)
 
void initialize (Body *body, std::shared_ptr< BodyMotion > motion)
 
bool updateMotion ()
 
virtual Bodybody () const
 
virtual double beginningTime () const
 
virtual double endingTime () const
 
virtual bool seek (double time)
 
virtual bool seek (double time, int waistLinkIndex, const Vector3 &waistTranslation)
 
virtual int baseLinkIndex () const
 
virtual bool getBaseLinkPosition (Isometry3 &out_T) const
 
virtual void getJointPositions (std::vector< stdx::optional< double >> &out_q) const
 
virtual stdx::optional< Vector3ZMP () const
 
- Public Member Functions inherited from cnoid::PoseProvider
virtual ~PoseProvider ()
 

Constructor & Destructor Documentation

◆ BodyMotionPoseProvider() [1/2]

BodyMotionPoseProvider::BodyMotionPoseProvider ( )

◆ BodyMotionPoseProvider() [2/2]

BodyMotionPoseProvider::BodyMotionPoseProvider ( Body body,
std::shared_ptr< BodyMotion motion 
)

Member Function Documentation

◆ baseLinkIndex()

int BodyMotionPoseProvider::baseLinkIndex ( ) const
virtual

Implements cnoid::PoseProvider.

◆ beginningTime()

double BodyMotionPoseProvider::beginningTime ( ) const
virtual

Implements cnoid::PoseProvider.

◆ body()

Body * BodyMotionPoseProvider::body ( ) const
virtual

Implements cnoid::PoseProvider.

◆ endingTime()

double BodyMotionPoseProvider::endingTime ( ) const
virtual

Implements cnoid::PoseProvider.

◆ getBaseLinkPosition()

bool BodyMotionPoseProvider::getBaseLinkPosition ( Isometry3 out_T) const
virtual

Implements cnoid::PoseProvider.

◆ getJointPositions()

void BodyMotionPoseProvider::getJointPositions ( std::vector< stdx::optional< double >> &  out_q) const
virtual

Implements cnoid::PoseProvider.

◆ initialize()

void BodyMotionPoseProvider::initialize ( Body body,
std::shared_ptr< BodyMotion motion 
)

◆ seek() [1/2]

bool BodyMotionPoseProvider::seek ( double  time)
virtual

Implements cnoid::PoseProvider.

◆ seek() [2/2]

bool BodyMotionPoseProvider::seek ( double  time,
int  waistLinkIndex,
const Vector3 waistTranslation 
)
virtual

Implements cnoid::PoseProvider.

◆ updateMotion()

bool BodyMotionPoseProvider::updateMotion ( )

◆ ZMP()

stdx::optional< Vector3 > BodyMotionPoseProvider::ZMP ( ) const
virtual

Implements cnoid::PoseProvider.


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