Choreonoid  1.8
Public Member Functions | Protected Member Functions | List of all members
cnoid::LinkKinematicsKit Class Reference

#include <LinkKinematicsKit.h>

Inheritance diagram for cnoid::LinkKinematicsKit:
cnoid::ClonableReferenced cnoid::Referenced

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)
 
Bodybody ()
 
const Bodybody () const
 
Linklink ()
 
const Linklink () const
 
LinkbaseLink ()
 
const LinkbaseLink () const
 
bool isManipulator () const
 
bool hasJointPath () const
 
std::shared_ptr< JointPathjointPath ()
 
std::shared_ptr< InverseKinematicsinverseKinematics ()
 
std::shared_ptr< JointSpaceConfigurationHandlerconfigurationHandler ()
 
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 ()
 
CoordinateFrameListbaseFrames ()
 
CoordinateFrameListoffsetFrames ()
 
CoordinateFramebaseFrame (const GeneralId &id)
 
const CoordinateFramebaseFrame (const GeneralId &id) const
 
CoordinateFrameoffsetFrame (const GeneralId &id)
 
const CoordinateFrameoffsetFrame (const GeneralId &id) const
 
const GeneralIdcurrentBaseFrameId () const
 
const GeneralIdcurrentOffsetFrameId () const
 
CoordinateFramecurrentBaseFrame ()
 
const CoordinateFramecurrentBaseFrame () const
 
CoordinateFramecurrentOffsetFrame ()
 
const CoordinateFramecurrentOffsetFrame () 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 ReferenceddoClone (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

◆ 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: