cnoid::CompositeIK Class Reference

#include <CompositeIK.h>

Inheritance diagram for cnoid::CompositeIK:

Public Member Functions
	CompositeIK ()
	CompositeIK (Body *body, Link *targetLink)
void	reset (Body *body, Link *targetLink)
bool	addBaseLink (Link *link)
Body *	body ()
Link *	targetLink ()
int	numJointPaths () const
std::shared_ptr< JointPath >	jointPath (int index) const
Link *	baseLink (int index) const
void	setMaxIkError (double e)
bool	hasCustomIK () const
virtual bool	calcInverseKinematics (const Isometry3 &T) override
virtual bool	calcRemainingPartForwardKinematicsForInverseKinematics () override
bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
void	setMaxIKerror (double e)
bool	hasAnalyticalIK () const
Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()
bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
	deprecated More...

Constructor & Destructor Documentation

CompositeIK() [1/2]

CompositeIK::CompositeIK

(

)

CompositeIK() [2/2]

CompositeIK::CompositeIK	(	Body *	body,
		Link *	targetLink
	)

Member Function Documentation

addBaseLink()

bool CompositeIK::addBaseLink

(

Link *

link

)

baseLink()

Link * CompositeIK::baseLink

(

int

index

)

const

body()

Body* cnoid::CompositeIK::body ( )

inline

calcInverseKinematics() [1/2]

bool CompositeIK::calcInverseKinematics ( const Isometry3 &  T )

overridevirtual

Implements cnoid::InverseKinematics.

calcInverseKinematics() [2/2]

bool cnoid::CompositeIK::calcInverseKinematics ( const Vector3 &  p, const Matrix3 &  R  )

inline

calcRemainingPartForwardKinematicsForInverseKinematics()

bool CompositeIK::calcRemainingPartForwardKinematicsForInverseKinematics ( )

overridevirtual

Reimplemented from cnoid::InverseKinematics.

hasAnalyticalIK()

bool cnoid::CompositeIK::hasAnalyticalIK ( ) const

inline

hasCustomIK()

bool cnoid::CompositeIK::hasCustomIK ( ) const

inline

jointPath()

std::shared_ptr<JointPath> cnoid::CompositeIK::jointPath ( int  index ) const

inline

numJointPaths()

int cnoid::CompositeIK::numJointPaths ( ) const

inline

reset()

void CompositeIK::reset	(	Body *	body,
		Link *	targetLink
	)

setMaxIkError()

void CompositeIK::setMaxIkError

(

double

e

)

setMaxIKerror()

void cnoid::CompositeIK::setMaxIKerror ( double  e )

inline

targetLink()

Link* cnoid::CompositeIK::targetLink ( )

inline

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

• CompositeIK.h
• CompositeIK.cpp