cnoid::LinkKinematicsKit Class Reference

#include <LinkKinematicsKit.h>

Inheritance diagram for cnoid::LinkKinematicsKit:

Public Member Functions
	LinkKinematicsKit (Link *link)
	~LinkKinematicsKit ()
void	setBaseLink (Link *baseLink)
void	setInverseKinematics (std::shared_ptr< InverseKinematics > ik)
void	setBaseFrames (CoordinateFrameList *frames)
void	setOffsetFrames (CoordinateFrameList *frames)
Body *	body ()
const Body *	body () const
Link *	link ()
const Link *	link () const
Link *	baseLink ()
const Link *	baseLink () const
bool	isManipulator () const
bool	hasJointPath () const
std::shared_ptr< JointPath >	jointPath ()
std::shared_ptr< InverseKinematics >	inverseKinematics ()
std::shared_ptr< JointSpaceConfigurationHandler >	configurationHandler ()
int	currentConfigurationType () const
std::string	configurationLabel (int id) const
bool	isCustomIkAvaiable () const
bool	isCustomIkDisabled () const
void	setCustomIkDisabled (bool on)
Vector3	referenceRpy () const
void	setReferenceRpy (const Vector3 &rpy)
void	resetReferenceRpy ()
CoordinateFrameList *	baseFrames ()
CoordinateFrameList *	offsetFrames ()
CoordinateFrame *	baseFrame (const GeneralId &id)
const CoordinateFrame *	baseFrame (const GeneralId &id) const
CoordinateFrame *	offsetFrame (const GeneralId &id)
const CoordinateFrame *	offsetFrame (const GeneralId &id) const
const GeneralId &	currentBaseFrameId () const
const GeneralId &	currentOffsetFrameId () const
CoordinateFrame *	currentBaseFrame ()
const CoordinateFrame *	currentBaseFrame () const
CoordinateFrame *	currentOffsetFrame ()
const CoordinateFrame *	currentOffsetFrame () const
void	setCurrentBaseFrame (const GeneralId &id)
void	setCurrentOffsetFrame (const GeneralId &id)
Isometry3	endPosition (const GeneralId &baseFrameId=GeneralId(), const GeneralId &offsetFrameId=GeneralId()) const
Isometry3	globalEndPosition (const GeneralId &offsetFrameId=GeneralId()) const
Isometry3	globalBasePosition (const GeneralId &baseFrameId=GeneralId()) const
bool	setEndPosition (const Isometry3 &T, const GeneralId &baseFrameId=GeneralId(), const GeneralId &offsetFrameId=GeneralId(), int configuration=0)
bool	setGlobalEndPosition (const Isometry3 &T_global, const GeneralId &offsetFrameId=GeneralId(), int configuration=0)
SignalProxy< void()>	sigFrameUpdate ()
void	notifyFrameUpdate ()
SignalProxy< void(const Isometry3 &T_frameCoordinate)>	sigPositionError ()
void	notifyPositionError (const Isometry3 &T_frameCoordinate)
bool	storeState (Mapping &archive) const
bool	restoreState (const Mapping &archive)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

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

Constructor & Destructor Documentation

LinkKinematicsKit() [1/2]

LinkKinematicsKit::LinkKinematicsKit

(

Link *

link

)

~LinkKinematicsKit()

LinkKinematicsKit::~LinkKinematicsKit

(

)

LinkKinematicsKit() [2/2]

LinkKinematicsKit::LinkKinematicsKit ( const LinkKinematicsKit &  org, CloneMap *  cloneMap  )

protected

Member Function Documentation

baseFrame() [1/2]

CoordinateFrame * LinkKinematicsKit::baseFrame

(

const GeneralId &

id

)

baseFrame() [2/2]

const CoordinateFrame * LinkKinematicsKit::baseFrame

(

const GeneralId &

id

)

const

baseFrames()

CoordinateFrameList * LinkKinematicsKit::baseFrames

(

)

baseLink() [1/2]

const Link * LinkKinematicsKit::baseLink

(

)

baseLink() [2/2]

const Link* cnoid::LinkKinematicsKit::baseLink

(

)

const

body() [1/2]

const Body * LinkKinematicsKit::body

(

)

body() [2/2]

const Body* cnoid::LinkKinematicsKit::body

(

)

const

configurationHandler()

std::shared_ptr< JointSpaceConfigurationHandler > LinkKinematicsKit::configurationHandler

(

)

configurationLabel()

std::string LinkKinematicsKit::configurationLabel

(

int

id

)

const

currentBaseFrame() [1/2]

const CoordinateFrame * LinkKinematicsKit::currentBaseFrame

(

)

currentBaseFrame() [2/2]

const CoordinateFrame* cnoid::LinkKinematicsKit::currentBaseFrame

(

)

const

currentBaseFrameId()

const GeneralId & LinkKinematicsKit::currentBaseFrameId

(

)

const

currentConfigurationType()

int LinkKinematicsKit::currentConfigurationType

(

)

const

currentOffsetFrame() [1/2]

const CoordinateFrame * LinkKinematicsKit::currentOffsetFrame

(

)

currentOffsetFrame() [2/2]

const CoordinateFrame* cnoid::LinkKinematicsKit::currentOffsetFrame

(

)

const

currentOffsetFrameId()

const GeneralId & LinkKinematicsKit::currentOffsetFrameId

(

)

const

doClone()

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

overrideprotectedvirtual

Implements cnoid::ClonableReferenced.

endPosition()

Isometry3 LinkKinematicsKit::endPosition	(	const GeneralId &	baseFrameId = GeneralId(),
		const GeneralId &	offsetFrameId = GeneralId()
	)		const

Note

hasJointPath() must be true.

globalBasePosition()

Isometry3 LinkKinematicsKit::globalBasePosition

(

const GeneralId &

baseFrameId = GeneralId()

)

const

Note

hasJointPath() must be true.

globalEndPosition()

Isometry3 LinkKinematicsKit::globalEndPosition

(

const GeneralId &

offsetFrameId = GeneralId()

)

const

hasJointPath()

bool LinkKinematicsKit::hasJointPath

(

)

const

inverseKinematics()

std::shared_ptr< InverseKinematics > LinkKinematicsKit::inverseKinematics

(

)

isCustomIkAvaiable()

bool LinkKinematicsKit::isCustomIkAvaiable

(

)

const

isCustomIkDisabled()

bool LinkKinematicsKit::isCustomIkDisabled

(

)

const

isManipulator()

bool LinkKinematicsKit::isManipulator

(

)

const

jointPath()

std::shared_ptr< JointPath > LinkKinematicsKit::jointPath

(

)

link() [1/2]

const Link * LinkKinematicsKit::link

(

)

link() [2/2]

const Link* cnoid::LinkKinematicsKit::link

(

)

const

notifyFrameUpdate()

void LinkKinematicsKit::notifyFrameUpdate

(

)

notifyPositionError()

void LinkKinematicsKit::notifyPositionError

(

const Isometry3 &

T_frameCoordinate

)

offsetFrame() [1/2]

CoordinateFrame * LinkKinematicsKit::offsetFrame

(

const GeneralId &

id

)

offsetFrame() [2/2]

const CoordinateFrame * LinkKinematicsKit::offsetFrame

(

const GeneralId &

id

)

const

offsetFrames()

CoordinateFrameList * LinkKinematicsKit::offsetFrames

(

)

referenceRpy()

Vector3 LinkKinematicsKit::referenceRpy

(

)

const

resetReferenceRpy()

void LinkKinematicsKit::resetReferenceRpy

(

)

restoreState()

bool LinkKinematicsKit::restoreState

(

const Mapping &

archive

)

setBaseFrames()

void LinkKinematicsKit::setBaseFrames

(

CoordinateFrameList *

frames

)

setBaseLink()

void LinkKinematicsKit::setBaseLink

(

Link *

baseLink

)

setCurrentBaseFrame()

void LinkKinematicsKit::setCurrentBaseFrame

(

const GeneralId &

id

)

setCurrentOffsetFrame()

void LinkKinematicsKit::setCurrentOffsetFrame

(

const GeneralId &

id

)

setCustomIkDisabled()

void LinkKinematicsKit::setCustomIkDisabled

(

bool

on

)

setEndPosition()

bool LinkKinematicsKit::setEndPosition	(	const Isometry3 &	T,
		const GeneralId &	baseFrameId = GeneralId(),
		const GeneralId &	offsetFrameId = GeneralId(),
		int	configuration = 0
	)

setGlobalEndPosition()

bool LinkKinematicsKit::setGlobalEndPosition	(	const Isometry3 &	T_global,
		const GeneralId &	offsetFrameId = GeneralId(),
		int	configuration = 0
	)

setInverseKinematics()

void LinkKinematicsKit::setInverseKinematics

(

std::shared_ptr< InverseKinematics >

ik

)

setOffsetFrames()

void LinkKinematicsKit::setOffsetFrames

(

CoordinateFrameList *

frames

)

setReferenceRpy()

void LinkKinematicsKit::setReferenceRpy

(

const Vector3 &

rpy

)

sigFrameUpdate()

SignalProxy< void()> LinkKinematicsKit::sigFrameUpdate

(

)

sigPositionError()

SignalProxy< void(const Isometry3 &T_frameCoordinate)> LinkKinematicsKit::sigPositionError

(

)

storeState()

bool LinkKinematicsKit::storeState

(

Mapping &

archive

)

const

---

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

• LinkKinematicsKit.h
• LinkKinematicsKit.cpp