cnoid::Link Class Reference

#include <Link.h>

Inheritance diagram for cnoid::Link:

Classes
class	ContactPoint
	All the members are described in the global coordinate system. More...

Public Types
enum	JointType {   RevoluteJoint = 0, PrismaticJoint = 1, FreeJoint = 2, FixedJoint = 3,   PseudoContinuousTrackJoint = 4, REVOLUTE_JOINT = RevoluteJoint, ROTATIONAL_JOINT = RevoluteJoint, PRISMATIC_JOINT = PrismaticJoint,   SLIDE_JOINT = PrismaticJoint, FREE_JOINT = FreeJoint, FIXED_JOINT = FixedJoint, PSEUDO_CONTINUOUS_TRACK = PseudoContinuousTrackJoint }
enum	StateFlag {   StateNone = 0, JointDisplacement = 1 << 0, JointAngle = JointDisplacement, JointVelocity = 1 << 1,   JointAcceleration = 1 << 2, JointEffort = 1 << 3, JointForce = JointEffort, JointTorque = JointEffort,   LinkPosition = 1 << 4, LinkTwist = 1 << 5, LinkExtWrench = 1 << 6, LinkContactState = 1 << 7,   HighGainActuation = 1 << 8, DeprecatedJointSurfaceVelocity = 1 << 9, MaxStateTypeBit = 9, NumStateTypes = 10,   NO_ACTUATION = StateNone, JOINT_TORQUE = JointTorque, JOINT_FORCE = JointForce, JOINT_EFFORT = JointEffort,   JOINT_ANGLE = JointAngle, JOINT_DISPLACEMENT = JointDisplacement, JOINT_VELOCITY = JointVelocity, LINK_POSITION = LinkPosition }
typedef StateFlag	ActuationMode

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Link ()
	Link (const Link &link)
Link *	clone () const
virtual	~Link ()
virtual void	initializeState ()
const std::string &	name () const
int	index () const
bool	isValid () const
bool	isRoot () const
bool	isStatic () const
bool	isFixedToRoot () const
bool	isOwnerOf (const Link *link) const
bool	isEndLink () const
Body *	body ()
const Body *	body () const
Link *	parent () const
Link *	sibling () const
Link *	child () const
Isometry3 &	T ()
const Isometry3 &	T () const
Isometry3 &	position ()
const Isometry3 &	position () const
template<class Scalar , int Mode, int Options>
void	setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T)
template<class Derived >
void	setPosition (const Eigen::MatrixBase< Derived > &T)
template<typename Derived1 , typename Derived2 >
void	setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation)
Isometry3::TranslationPart	p ()
Isometry3::ConstTranslationPart	p () const
Isometry3::TranslationPart	translation ()
Isometry3::ConstTranslationPart	translation () const
template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &p)
Isometry3::LinearPart	R ()
Isometry3::ConstLinearPart	R () const
Isometry3::LinearPart	rotation ()
Isometry3::ConstLinearPart	rotation () const
template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R)
template<typename T >
void	setRotation (const Eigen::AngleAxis< T > &a)
template<typename Derived >
void	setRotation (const Eigen::QuaternionBase< Derived > &q)
const Isometry3 &	Tb () const
const Isometry3 &	offsetPosition () const
Isometry3::ConstTranslationPart	b () const
Isometry3::ConstTranslationPart	offsetTranslation () const
Isometry3::ConstLinearPart	Rb () const
Isometry3::ConstLinearPart	offsetRotation () const
Matrix3	Rs () const
int	jointId () const
const std::string &	jointName () const
const std::string &	jointSpecificName () const
JointType	jointType () const
const char *	jointTypeLabel () const
const char *	jointTypeSymbol () const
const char *	jointTypeString (bool useUnderscore=false) const
bool	isFixedJoint () const
bool	isFreeJoint () const
bool	isRevoluteJoint () const
bool	isPrismaticJoint () const
bool	hasJoint () const
bool	isRotationalJoint () const
	deprecated More...
bool	isSlideJoint () const
	deprecated More...
const Vector3 &	a () const
const Vector3 &	jointAxis () const
const Vector3 &	d () const
double	Jm2 () const
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...
short	actuationMode () const
void	setActuationMode (short mode)
short	sensingMode () const
void	setSensingMode (short mode)
void	mergeSensingMode (short mode)
double	q () const
double &	q ()
double	dq () const
double &	dq ()
double	ddq () const
double &	ddq ()
double	u () const
double &	u ()
double	q_initial () const
const Vector3 &	v () const
Vector3 &	v ()
const Vector3 &	w () const
Vector3 &	w ()
const Vector3 &	dv () const
Vector3 &	dv ()
const Vector3 &	dw () const
Vector3 &	dw ()
const Vector3 &	c () const
	center of mass (self local) More...
const Vector3 &	centerOfMass () const
const Vector3 &	wc () const
	center of mass (world coordinate) More...
const Vector3 &	centerOfMassGlobal () const
Vector3 &	wc ()
double	m () const
	mass More...
const Matrix3 &	I () const
const Vector6 &	externalWrench () const
Vector6 &	externalWrench ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	externalForce () const
Vector6::FixedSegmentReturnType< 3 >::Type	externalForce ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	externalTorque () const
Vector6::FixedSegmentReturnType< 3 >::Type	externalTorque ()
const Vector6 &	F_ext () const
Vector6 &	F_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	f_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	f_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	tau_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	tau_ext ()
void	addExternalForceAtLocalPosition (const Vector3 &f_global, const Vector3 &p_local)
void	addExternalForceAtGlobalPosition (const Vector3 &f_global, const Vector3 &p_global)
void	addExternalForce (const Vector3 &f_global, const Vector3 &p_local)
int	materialId () const
std::string	materialName () const
std::vector< ContactPoint > &	contactPoints ()
const std::vector< ContactPoint > &	contactPoints () const
SgGroup *	shape () const
SgGroup *	visualShape () const
SgGroup *	collisionShape () const
bool	hasDedicatedCollisionShape () const
void	setBodyToSubTree (Body *newBody)
void	setParent (Link *parent)
void	setIndex (int index)
void	setName (const std::string &name)
virtual void	prependChild (Link *link)
virtual void	appendChild (Link *link)
bool	removeChild (Link *link)
void	setOffsetPosition (const Isometry3 &T)
template<typename Derived >
void	setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset)
template<typename Derived >
void	setOffsetRotation (const Eigen::MatrixBase< Derived > &offset)
template<typename T >
void	setOffsetRotation (const Eigen::AngleAxis< T > &a)
template<typename Derived >
void	setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &)
void	setJointType (JointType type)
void	setJointId (int id)
void	setJointName (const std::string &name)
void	resetJointSpecificName ()
void	setJointAxis (const Vector3 &axis)
void	setInitialJointDisplacement (double q)
void	setInitialJointAngle (double q)
void	setJointRange (double lower, double upper)
void	setJointVelocityRange (double lower, double upper)
void	setCenterOfMass (const Vector3 &c)
void	setMass (double m)
void	setInertia (const Matrix3 &I)
void	setEquivalentRotorInertia (double Jm2)
void	setMaterial (int id)
void	setMaterial (const std::string &name)
void	addShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	addVisualShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	addCollisionShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	removeShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	clearShapeNodes (SgUpdateRef update=nullptr)
void	updateShapeRs ()
Isometry3	Ta () const
Matrix3	attitude () const
void	setAttitude (const Matrix3 &Ra)
Matrix3	calcRfromAttitude (const Matrix3 &Ra)
void	getAttitudeAndTranslation (Isometry3 &out_T)
const Mapping *	info () const
Mapping *	info ()
template<typename T >
T	info (const std::string &key) const
template<typename T >
T	info (const std::string &key, const T &defaultValue) const
template<typename T >
void	setInfo (const std::string &key, const T &value)
std::string	info (const std::string &key, const char *defaultValue) const
void	resetInfo (Mapping *info)
template<>
double	info (const std::string &key) const
template<>
double	info (const std::string &key, const double &defaultValue) const
template<>
bool	info (const std::string &key, const bool &defaultValue) const
template<>
void	setInfo (const std::string &key, const double &value)
template<>
void	setInfo (const std::string &key, const bool &value)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Member Functions
static std::string	getStateModeString (short mode)

Static Public Attributes
static constexpr int	PseudoContinousTrack = PseudoContinuousTrackJoint
static constexpr int	JOINT_SURFACE_VELOCITY = DeprecatedJointSurfaceVelocity
static constexpr short	AllStateHighGainActuationMode

Protected Member Functions
Referenced *	doClone (CloneMap *cloneMap) const override
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Member Typedef Documentation

ActuationMode

typedef StateFlag cnoid::Link::ActuationMode

Member Enumeration Documentation

JointType

enum cnoid::Link::JointType

Enumerator
RevoluteJoint
PrismaticJoint
FreeJoint	6-DOF root link
FixedJoint
PseudoContinuousTrackJoint	Special joint for simplified simulation of a continuous track
REVOLUTE_JOINT
ROTATIONAL_JOINT
PRISMATIC_JOINT
SLIDE_JOINT
FREE_JOINT
FIXED_JOINT
PSEUDO_CONTINUOUS_TRACK

StateFlag

enum cnoid::Link::StateFlag

Enumerator
StateNone
JointDisplacement
JointAngle
JointVelocity
JointAcceleration
JointEffort
JointForce
JointTorque
LinkPosition
LinkTwist
LinkExtWrench
LinkContactState
HighGainActuation
DeprecatedJointSurfaceVelocity
MaxStateTypeBit
NumStateTypes
NO_ACTUATION
JOINT_TORQUE
JOINT_FORCE
JOINT_EFFORT
JOINT_ANGLE
JOINT_DISPLACEMENT
JOINT_VELOCITY
LINK_POSITION

Constructor & Destructor Documentation

Link() [1/2]

Link::Link

(

)

Link() [2/2]

Link::Link

(

const Link &

link

)

This does shallow copy. You have to use the copy constructor of the Body class to copy the link tree

~Link()

Link::~Link ( )

virtual

Member Function Documentation

a()

const Vector3& cnoid::Link::a ( ) const

inline

actuationMode()

short cnoid::Link::actuationMode ( ) const

inline

addCollisionShapeNode()

void Link::addCollisionShapeNode	(	SgNode *	shape,
		SgUpdateRef	update = nullptr
	)

addExternalForce()

void cnoid::Link::addExternalForce ( const Vector3 &  f_global, const Vector3 &  p_local  )

inline

addExternalForceAtGlobalPosition()

void cnoid::Link::addExternalForceAtGlobalPosition ( const Vector3 &  f_global, const Vector3 &  p_global  )

inline

addExternalForceAtLocalPosition()

void cnoid::Link::addExternalForceAtLocalPosition ( const Vector3 &  f_global, const Vector3 &  p_local  )

inline

addShapeNode()

void Link::addShapeNode	(	SgNode *	shape,
		SgUpdateRef	update = nullptr
	)

addVisualShapeNode()

void Link::addVisualShapeNode	(	SgNode *	shape,
		SgUpdateRef	update = nullptr
	)

appendChild()

void Link::appendChild ( Link *  link )

virtual

Reimplemented in cnoid::DyLink.

attitude()

Matrix3 cnoid::Link::attitude ( ) const

inline

b()

Isometry3::ConstTranslationPart cnoid::Link::b ( ) const

inline

body() [1/2]

Body* cnoid::Link::body ( )

inline

body() [2/2]

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

inline

c()

const Vector3& cnoid::Link::c ( ) const

inline

center of mass (self local)

calcRfromAttitude()

Matrix3 cnoid::Link::calcRfromAttitude ( const Matrix3 &  Ra )

inline

centerOfMass()

const Vector3& cnoid::Link::centerOfMass ( ) const

inline

centerOfMassGlobal()

const Vector3& cnoid::Link::centerOfMassGlobal ( ) const

inline

child()

Link* cnoid::Link::child ( ) const

inline

clearShapeNodes()

void Link::clearShapeNodes

(

SgUpdateRef

update = nullptr

)

clone()

Link* cnoid::Link::clone ( ) const

inline

collisionShape()

SgGroup* cnoid::Link::collisionShape ( ) const

inline

contactPoints() [1/2]

std::vector<ContactPoint>& cnoid::Link::contactPoints ( )

inline

The following contact date is avaiable if LinkContactState is included in the sensingMode.

Note

A dynamics engine should update the data when the above flag is specified in the sensingMode.

contactPoints() [2/2]

const std::vector<ContactPoint>& cnoid::Link::contactPoints ( ) const

inline

d()

const Vector3& cnoid::Link::d ( ) const

inline

ddq() [1/2]

double& cnoid::Link::ddq ( )

inline

ddq() [2/2]

double cnoid::Link::ddq ( ) const

inline

doClone()

Referenced * Link::doClone ( CloneMap *  cloneMap ) const

overrideprotectedvirtual

Implements cnoid::ClonableReferenced.

dq() [1/2]

double& cnoid::Link::dq ( )

inline

dq() [2/2]

double cnoid::Link::dq ( ) const

inline

dv() [1/2]

Vector3& cnoid::Link::dv ( )

inline

dv() [2/2]

const Vector3& cnoid::Link::dv ( ) const

inline

dw() [1/2]

Vector3& cnoid::Link::dw ( )

inline

dw() [2/2]

const Vector3& cnoid::Link::dw ( ) const

inline

externalForce() [1/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::externalForce ( )

inline

externalForce() [2/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::externalForce ( ) const

inline

externalTorque() [1/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::externalTorque ( )

inline

externalTorque() [2/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::externalTorque ( ) const

inline

externalWrench() [1/2]

Vector6& cnoid::Link::externalWrench ( )

inline

externalWrench() [2/2]

const Vector6& cnoid::Link::externalWrench ( ) const

inline

F_ext() [1/2]

Vector6& cnoid::Link::F_ext ( )

inline

f_ext() [1/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::f_ext ( )

inline

F_ext() [2/2]

const Vector6& cnoid::Link::F_ext ( ) const

inline

f_ext() [2/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::f_ext ( ) const

inline

getAttitudeAndTranslation()

void cnoid::Link::getAttitudeAndTranslation ( Isometry3 &  out_T )

inline

getStateModeString()

std::string Link::getStateModeString ( short  mode )

static

hasDedicatedCollisionShape()

bool Link::hasDedicatedCollisionShape

(

)

const

hasJoint()

bool cnoid::Link::hasJoint ( ) const

inline

I()

const Matrix3& cnoid::Link::I ( ) const

inline

index()

int cnoid::Link::index ( ) const

inline

info() [1/8]

Mapping* cnoid::Link::info ( )

inline

info() [2/8]

const Mapping* cnoid::Link::info ( ) const

inline

info() [3/8]

template<typename T >

T cnoid::Link::info

(

const std::string &

key

)

const

info() [4/8]

template<>

CNOID_EXPORT double cnoid::Link::info

(

const std::string &

key

)

const

info() [5/8]

template<>

CNOID_EXPORT bool cnoid::Link::info	(	const std::string &	key,
		const bool &	defaultValue
	)		const

info() [6/8]

std::string Link::info	(	const std::string &	key,
		const char *	defaultValue
	)		const

info() [7/8]

template<>

CNOID_EXPORT double cnoid::Link::info	(	const std::string &	key,
		const double &	defaultValue
	)		const

info() [8/8]

template<typename T >

T cnoid::Link::info	(	const std::string &	key,
		const T &	defaultValue
	)		const

initializeState()

void Link::initializeState ( )

virtual

Reimplemented in cnoid::DyLink.

isEndLink()

bool cnoid::Link::isEndLink ( ) const

inline

isFixedJoint()

bool cnoid::Link::isFixedJoint ( ) const

inline

isFixedToRoot()

bool Link::isFixedToRoot

(

)

const

isFreeJoint()

bool cnoid::Link::isFreeJoint ( ) const

inline

isOwnerOf()

bool Link::isOwnerOf

(

const Link *

link

)

const

isPrismaticJoint()

bool cnoid::Link::isPrismaticJoint ( ) const

inline

isRevoluteJoint()

bool cnoid::Link::isRevoluteJoint ( ) const

inline

isRoot()

bool cnoid::Link::isRoot ( ) const

inline

isRotationalJoint()

bool cnoid::Link::isRotationalJoint ( ) const

inline

deprecated

isSlideJoint()

bool cnoid::Link::isSlideJoint ( ) const

inline

deprecated

isStatic()

bool Link::isStatic

(

)

const

isValid()

bool cnoid::Link::isValid ( ) const

inline

Jm2()

double cnoid::Link::Jm2 ( ) const

inline

Equivalent rotor inertia: n^2*Jm [kg.m^2].

jointAxis()

const Vector3& cnoid::Link::jointAxis ( ) const

inline

jointId()

int cnoid::Link::jointId ( ) const

inline

jointName()

const std::string & Link::jointName

(

)

const

jointSpecificName()

const std::string& cnoid::Link::jointSpecificName ( ) const

inline

jointType()

JointType cnoid::Link::jointType ( ) const

inline

jointTypeLabel()

const char * Link::jointTypeLabel

(

)

const

jointTypeString()

const char * Link::jointTypeString

(

bool

useUnderscore = false

)

const

jointTypeSymbol()

const char * Link::jointTypeSymbol

(

)

const

m()

double cnoid::Link::m ( ) const

inline

mass

materialId()

int cnoid::Link::materialId ( ) const

inline

materialName()

std::string Link::materialName

(

)

const

mergeSensingMode()

void cnoid::Link::mergeSensingMode ( short  mode )

inline

name()

const std::string& cnoid::Link::name ( ) const

inline

offsetPosition()

const Isometry3& cnoid::Link::offsetPosition ( ) const

inline

offsetRotation()

Isometry3::ConstLinearPart cnoid::Link::offsetRotation ( ) const

inline

offsetTranslation()

Isometry3::ConstTranslationPart cnoid::Link::offsetTranslation ( ) const

inline

p() [1/2]

Isometry3::TranslationPart cnoid::Link::p ( )

inline

p() [2/2]

Isometry3::ConstTranslationPart cnoid::Link::p ( ) const

inline

parent()

Link* cnoid::Link::parent ( ) const

inline

position() [1/2]

Isometry3& cnoid::Link::position ( )

inline

position() [2/2]

const Isometry3& cnoid::Link::position ( ) const

inline

prependChild()

void Link::prependChild ( Link *  link )

virtual

Reimplemented in cnoid::DyLink.

q() [1/2]

double& cnoid::Link::q ( )

inline

q() [2/2]

double cnoid::Link::q ( ) const

inline

q_initial()

double cnoid::Link::q_initial ( ) const

inline

R() [1/2]

Isometry3::LinearPart cnoid::Link::R ( )

inline

R() [2/2]

Isometry3::ConstLinearPart cnoid::Link::R ( ) const

inline

Rb()

Isometry3::ConstLinearPart cnoid::Link::Rb ( ) const

inline

removeChild()

bool Link::removeChild

(

Link *

childToRemove

)

A child link is removed from the link. If a link given by the parameter is not a child of the link, false is returned.

removeShapeNode()

void Link::removeShapeNode	(	SgNode *	shape,
		SgUpdateRef	update = nullptr
	)

resetInfo()

void Link::resetInfo

(

Mapping *

info

)

resetJointSpecificName()

void Link::resetJointSpecificName

(

)

rotation() [1/2]

Isometry3::LinearPart cnoid::Link::rotation ( )

inline

rotation() [2/2]

Isometry3::ConstLinearPart cnoid::Link::rotation ( ) const

inline

Rs()

Matrix3 cnoid::Link::Rs ( ) const

inline

sensingMode()

short cnoid::Link::sensingMode ( ) const

inline

setAccumulatedSegmentRotation()

template<typename Derived >

void cnoid::Link::setAccumulatedSegmentRotation ( const Eigen::MatrixBase< Derived > &  )

inline

setActuationMode()

void cnoid::Link::setActuationMode ( short  mode )

inline

setAttitude()

void cnoid::Link::setAttitude ( const Matrix3 &  Ra )

inline

setBodyToSubTree()

void Link::setBodyToSubTree

(

Body *

newBody

)

setCenterOfMass()

void cnoid::Link::setCenterOfMass ( const Vector3 &  c )

inline

setEquivalentRotorInertia()

void cnoid::Link::setEquivalentRotorInertia ( double  Jm2 )

inline

setIndex()

void cnoid::Link::setIndex ( int  index )

inline

setInertia()

void cnoid::Link::setInertia ( const Matrix3 &  I )

inline

setInfo() [1/3]

template<>

CNOID_EXPORT void cnoid::Link::setInfo	(	const std::string &	key,
		const bool &	value
	)

setInfo() [2/3]

template<>

CNOID_EXPORT void cnoid::Link::setInfo	(	const std::string &	key,
		const double &	value
	)

setInfo() [3/3]

template<typename T >

void cnoid::Link::setInfo	(	const std::string &	key,
		const T &	value
	)

setInitialJointAngle()

void cnoid::Link::setInitialJointAngle ( double  q )

inline

setInitialJointDisplacement()

void cnoid::Link::setInitialJointDisplacement ( double  q )

inline

setJointAxis()

void cnoid::Link::setJointAxis ( const Vector3 &  axis )

inline

setJointId()

void cnoid::Link::setJointId ( int  id )

inline

setJointName()

void Link::setJointName

(

const std::string &

name

)

setJointRange()

void cnoid::Link::setJointRange ( double  lower, double  upper  )

inline

setJointType()

void cnoid::Link::setJointType ( JointType  type )

inline

setJointVelocityRange()

void cnoid::Link::setJointVelocityRange ( double  lower, double  upper  )

inline

setMass()

void cnoid::Link::setMass ( double  m )

inline

setMaterial() [1/2]

void Link::setMaterial

(

const std::string &

name

)

setMaterial() [2/2]

void cnoid::Link::setMaterial ( int  id )

inline

setName()

void Link::setName

(

const std::string &

name

)

setOffsetPosition()

void cnoid::Link::setOffsetPosition ( const Isometry3 &  T )

inline

setOffsetRotation() [1/2]

template<typename T >

void cnoid::Link::setOffsetRotation ( const Eigen::AngleAxis< T > &  a )

inline

setOffsetRotation() [2/2]

template<typename Derived >

void cnoid::Link::setOffsetRotation ( const Eigen::MatrixBase< Derived > &  offset )

inline

setOffsetTranslation()

template<typename Derived >

void cnoid::Link::setOffsetTranslation ( const Eigen::MatrixBase< Derived > &  offset )

inline

setParent()

void cnoid::Link::setParent ( Link *  parent )

inline

setPosition() [1/3]

template<class Derived >

void cnoid::Link::setPosition ( const Eigen::MatrixBase< Derived > &  T )

inline

setPosition() [2/3]

template<typename Derived1 , typename Derived2 >

void cnoid::Link::setPosition ( const Eigen::MatrixBase< Derived1 > &  rotation, const Eigen::MatrixBase< Derived2 > &  translation  )

inline

setPosition() [3/3]

template<class Scalar , int Mode, int Options>

void cnoid::Link::setPosition ( const Eigen::Transform< Scalar, 3, Mode, Options > &  T )

inline

setRotation() [1/3]

template<typename T >

void cnoid::Link::setRotation ( const Eigen::AngleAxis< T > &  a )

inline

setRotation() [2/3]

template<typename Derived >

void cnoid::Link::setRotation ( const Eigen::MatrixBase< Derived > &  R )

inline

setRotation() [3/3]

template<typename Derived >

void cnoid::Link::setRotation ( const Eigen::QuaternionBase< Derived > &  q )

inline

setSensingMode()

void cnoid::Link::setSensingMode ( short  mode )

inline

setTranslation()

template<typename Derived >

void cnoid::Link::setTranslation ( const Eigen::MatrixBase< Derived > &  p )

inline

shape()

SgGroup* cnoid::Link::shape ( ) const

inline

sibling()

Link* cnoid::Link::sibling ( ) const

inline

T() [1/2]

Isometry3& cnoid::Link::T ( )

inline

T() [2/2]

const Isometry3& cnoid::Link::T ( ) const

inline

Ta()

Isometry3 cnoid::Link::Ta ( ) const

inline

tau_ext() [1/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::tau_ext ( )

inline

tau_ext() [2/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::tau_ext ( ) const

inline

Tb()

const Isometry3& cnoid::Link::Tb ( ) const

inline

translation() [1/2]

Isometry3::TranslationPart cnoid::Link::translation ( )

inline

translation() [2/2]

Isometry3::ConstTranslationPart cnoid::Link::translation ( ) const

inline

u() [1/2]

double& cnoid::Link::u ( )

inline

u() [2/2]

double cnoid::Link::u ( ) const

inline

updateShapeRs()

void cnoid::Link::updateShapeRs ( )

inline

v() [1/2]

Vector3& cnoid::Link::v ( )

inline

v() [2/2]

const Vector3& cnoid::Link::v ( ) const

inline

visualShape()

SgGroup* cnoid::Link::visualShape ( ) const

inline

w() [1/2]

Vector3& cnoid::Link::w ( )

inline

w() [2/2]

const Vector3& cnoid::Link::w ( ) const

inline

wc() [1/2]

Vector3& cnoid::Link::wc ( )

inline

wc() [2/2]

const Vector3& cnoid::Link::wc ( ) const

inline

center of mass (world coordinate)

Member Data Documentation

AllStateHighGainActuationMode

constexpr short cnoid::Link::AllStateHighGainActuationMode

staticconstexpr

Initial value:

=
        LinkPosition | LinkTwist | LinkExtWrench | JointDisplacement | JointVelocity | JointEffort | HighGainActuation

The special mode which can be used to calculate contact forces only. In order for this mode to work correctly, the mode should be specified for all the movable links. The mode is currently supported by AISTSimulator.

JOINT_SURFACE_VELOCITY

constexpr int cnoid::Link::JOINT_SURFACE_VELOCITY = DeprecatedJointSurfaceVelocity

staticconstexpr

PseudoContinousTrack

constexpr int cnoid::Link::PseudoContinousTrack = PseudoContinuousTrackJoint

staticconstexpr

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

• Link.h
• Link.cpp