#include <CustomJointPathBase.h>

Inheritance diagram for cnoid::CustomJointPathBase:

Public Member Functions
	CustomJointPathBase (Link baseLink, Link endLink)

bool	checkLinkPath (const std::string &from, const std::string &to, bool &out_isReversed) const

void	setCustomInverseKinematics (InverseKinematicsFunc func, bool isReversed=false)

InverseKinematicsFunc	customInverseKinematics () const

bool	isReversed () const

virtual bool	calcInverseKinematics (const Isometry3 &T) override

virtual bool	hasCustomIK () const override

template<typename iterator >
void	copyJointDisplacements (iterator q_iter)

Public Member Functions inherited from cnoid::JointPath
	JointPath ()

	JointPath (Link base, Link end)

	JointPath (Link *end)

	JointPath (const JointPath &org)=delete

JointPath &	operator= (const JointPath &rhs)=delete

bool	empty () const

int	size () const

int	numJoints () const

Link *	joint (int index) const

Link *	operator[] (int index) const

Link *	baseLink () const

Link *	endLink () const

bool	isJointDownward (int index) const

const std::vector< Link * > &	joints () const

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

LinkPath &	linkPath ()

const LinkPath &	linkPath () const

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const

int	indexOf (const Link *link) const

bool	isCustomIkDisabled () const

void	setCustomIkDisabled (bool on)

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, std::function< double(VectorXd &out_error)> errorFunc, std::function< void(MatrixXd &out_Jacobian)> jacobianFunc)

bool	calcInverseKinematics ()

JointPath &	storeCurrentPosition ()

JointPath &	setBaseLinkGoal (const Isometry3 &T)

virtual bool	calcRemainingPartForwardKinematicsForInverseKinematics () override

int	numIterations () const

std::string	name () const

void	setName (const std::string &name)

bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)

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

void	calcJacobian (Eigen::MatrixXd &out_J) const

bool	hasAnalyticalIK () const

void	setNumericalIKenabled (bool on)

bool	isNumericalIkEnabled () 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	setNumericalIkTruncateRatio (double r)

Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()

bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
	deprecated More...

Additional Inherited Members
Public Types inherited from cnoid::JointPath
typedef LinkTraverse::iterator	iterator

typedef LinkTraverse::const_iterator	const_iterator

Static Public Member Functions inherited from cnoid::JointPath
static std::shared_ptr< JointPath >	getCustomPath (Body body, Link baseLink, Link *endLink)

static double	numericalIkDefaultDeltaScale ()

static int	numericalIkDefaultMaxIterations ()

static double	numericalIkDefaultMaxIkError ()

static double	numericalIkDefaultDampingConstant ()

static double	numericalIKdefaultDeltaScale ()

static int	numericalIKdefaultMaxIterations ()

static double	numericalIKdefaultMaxIKerror ()

static double	numericalIKdefaultDampingConstant ()

static double	numericalIkDefaultTruncateRatio ()

Detailed Description

This class can be used as a base class of a custom joint path class whose instance is provided by CustomJointPathHandler. Using this class will make the implementation of a custom joint path class easier in most cases, but you don't necessarily have to use this class to implement a custom joint path class. See "sample/GRobotPlugin/GRobotHandler.cpp" as a sample of using this class.

Constructor & Destructor Documentation

◆ CustomJointPathBase()

CustomJointPathBase::CustomJointPathBase	(	Link *	baseLink,
		Link *	endLink
	)

Member Function Documentation

◆ calcInverseKinematics()

bool CustomJointPathBase::calcInverseKinematics ( const Isometry3 & T )

overridevirtual

Reimplemented from cnoid::JointPath.

◆ checkLinkPath()

bool CustomJointPathBase::checkLinkPath	(	const std::string &	from,
		const std::string &	to,
		bool &	out_isReversed
	)		const

◆ copyJointDisplacements()

template<typename iterator >

void cnoid::CustomJointPathBase::copyJointDisplacements ( iterator q_iter )

inline

◆ customInverseKinematics()

InverseKinematicsFunc cnoid::CustomJointPathBase::customInverseKinematics ( ) const

inline

◆ hasCustomIK()

bool CustomJointPathBase::hasCustomIK ( ) const

overridevirtual

Reimplemented from cnoid::JointPath.

◆ isReversed()

bool cnoid::CustomJointPathBase::isReversed ( ) const

inline

◆ setCustomInverseKinematics()

void CustomJointPathBase::setCustomInverseKinematics	(	InverseKinematicsFunc	func,
		bool	isReversed = `false`
	)

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CustomJointPathBase()

Member Function Documentation

◆ calcInverseKinematics()

◆ checkLinkPath()

◆ copyJointDisplacements()

◆ customInverseKinematics()

◆ hasCustomIK()

◆ isReversed()

◆ setCustomInverseKinematics()