cnoid::LeggedBodyHelper Class Reference

#include <LeggedBodyHelper.h>

Inheritance diagram for cnoid::LeggedBodyHelper:

Public Member Functions
	LeggedBodyHelper ()
	LeggedBodyHelper (Body *body)
	LeggedBodyHelper (const LeggedBodyHelper &org)
bool	isValid () const
virtual bool	resetBody (Body *body)
virtual	~LeggedBodyHelper ()
Body *	body () const
int	numFeet () const
Link *	footLink (int index) const
Link *	kneePitchJoint (int footIndex) const
std::shared_ptr< InverseKinematics >	getFootBasedIK (Link *targetLink)
bool	doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
bool	setStance (double width, Link *baseLink)
const Vector3 &	centerOfSoleLocal (int footIndex) const
Vector3	centerOfSole (int footIndex) const
Vector3	centerOfSoles () const
Vector3	homeCopOfSole (int footIndex) const
Vector3	homeCopOfSoles () const
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Constructor & Destructor Documentation

LeggedBodyHelper() [1/3]

LeggedBodyHelper::LeggedBodyHelper

(

)

LeggedBodyHelper() [2/3]

LeggedBodyHelper::LeggedBodyHelper

(

Body *

body

)

LeggedBodyHelper() [3/3]

LeggedBodyHelper::LeggedBodyHelper

(

const LeggedBodyHelper &

org

)

~LeggedBodyHelper()

LeggedBodyHelper::~LeggedBodyHelper ( )

virtual

Member Function Documentation

body()

Body* cnoid::LeggedBodyHelper::body ( ) const

inline

centerOfSole()

Vector3 LeggedBodyHelper::centerOfSole

(

int

footIndex

)

const

centerOfSoleLocal()

const Vector3& cnoid::LeggedBodyHelper::centerOfSoleLocal ( int  footIndex ) const

inline

centerOfSoles()

Vector3 LeggedBodyHelper::centerOfSoles

(

)

const

doLegIkToMoveCm()

bool LeggedBodyHelper::doLegIkToMoveCm	(	const Vector3 &	c,
		bool	onlyProjectionToFloor = false
	)

footLink()

Link* cnoid::LeggedBodyHelper::footLink ( int  index ) const

inline

getFootBasedIK()

std::shared_ptr< InverseKinematics > LeggedBodyHelper::getFootBasedIK

(

Link *

targetLink

)

homeCopOfSole()

Vector3 LeggedBodyHelper::homeCopOfSole

(

int

footIndex

)

const

homeCopOfSoles()

Vector3 LeggedBodyHelper::homeCopOfSoles

(

)

const

isValid()

bool cnoid::LeggedBodyHelper::isValid ( ) const

inline

kneePitchJoint()

Link* cnoid::LeggedBodyHelper::kneePitchJoint ( int  footIndex ) const

inline

numFeet()

int cnoid::LeggedBodyHelper::numFeet ( ) const

inline

resetBody()

bool LeggedBodyHelper::resetBody ( Body *  body )

virtual

setStance()

bool LeggedBodyHelper::setStance	(	double	width,
		Link *	baseLink
	)

---

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

• LeggedBodyHelper.h
• LeggedBodyHelper.cpp