cnoid::MprIkPosition Class Reference

#include <MprPosition.h>

Inheritance diagram for cnoid::MprIkPosition:

Public Types
enum	FrameType { BaseFrame = 0, OffsetFrame = 1 }
Public Types inherited from cnoid::MprPosition
enum	PositionType { IK, FK }
enum	UpdateFlag { IdUpdate = 1 << 0, NoteUpdate = 1 << 1, PositionUpdate = 1 << 2, ObjectReplaced = 1 << 3 }

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MprIkPosition ()
	MprIkPosition (const GeneralId &id)
	MprIkPosition (const MprIkPosition &org)
MprIkPosition &	operator= (const MprIkPosition &rhs)=delete
const Isometry3 &	position () const
void	setPosition (const Isometry3 &T)
Vector3	rpy () const
void	setRpy (const Vector3 &rpy)
const Vector3	referenceRpy () const
void	setReferenceRpy (const Vector3 &rpy)
void	resetReferenceRpy ()
void	setBaseFrameId (const GeneralId &id)
void	setOffsetFrameId (const GeneralId &id)
const GeneralId &	baseFrameId () const
const GeneralId &	offsetFrameId () const
const GeneralId &	frameId (int frameType) const
CoordinateFrame *	findBaseFrame (CoordinateFrameList *baseFrames)
CoordinateFrame *	findOffsetFrame (CoordinateFrameList *offsetFrames)
CoordinateFrame *	findFrame (CoordinateFrameList *frames, int frameType)
int	configuration () const
virtual bool	fetch (LinkKinematicsKit *kinematicsKit) override
virtual bool	apply (LinkKinematicsKit *kinematicsKit) const override
virtual bool	read (const Mapping &archive) override
virtual bool	write (Mapping &archive) const override
Public Member Functions inherited from cnoid::MprPosition
MprPosition &	operator= (const MprPosition &rhs)=delete
MprPosition *	clone () const
const GeneralId &	id () const
void	setId (const GeneralId &id)
int	positionType () const
bool	isIK () const
bool	isFK () const
MprIkPosition *	ikPosition ()
MprFkPosition *	fkPosition ()
MprPositionList *	ownerPositionList ()
const std::string &	note () const
void	setNote (const std::string &note)
SignalProxy< void(int flags)>	sigUpdated ()
void	notifyUpdate (int flags)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Protected Member Functions
virtual Referenced *	doClone (CloneMap *cloneMap) const override
Protected Member Functions inherited from cnoid::MprPosition
	MprPosition (PositionType type)
	MprPosition (PositionType type, const GeneralId &id)
	MprPosition (const MprPosition &org)
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Additional Inherited Members
Static Public Attributes inherited from cnoid::MprPosition
static constexpr int	MaxNumJoints = 8

Member Enumeration Documentation

FrameType

enum cnoid::MprIkPosition::FrameType

Enumerator
BaseFrame
OffsetFrame

Constructor & Destructor Documentation

MprIkPosition() [1/3]

MprIkPosition::MprIkPosition

(

)

MprIkPosition() [2/3]

MprIkPosition::MprIkPosition

(

const GeneralId &

id

)

MprIkPosition() [3/3]

MprIkPosition::MprIkPosition

(

const MprIkPosition &

org

)

Member Function Documentation

apply()

bool MprIkPosition::apply ( LinkKinematicsKit *  kinematicsKit ) const

overridevirtual

Implements cnoid::MprPosition.

baseFrameId()

const GeneralId& cnoid::MprIkPosition::baseFrameId ( ) const

inline

configuration()

int cnoid::MprIkPosition::configuration ( ) const

inline

doClone()

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

overrideprotectedvirtual

Implements cnoid::ClonableReferenced.

fetch()

bool MprIkPosition::fetch ( LinkKinematicsKit *  kinematicsKit )

overridevirtual

Note

This function always specifies BodyFrame as the base frame type.

Implements cnoid::MprPosition.

findBaseFrame()

CoordinateFrame* cnoid::MprIkPosition::findBaseFrame ( CoordinateFrameList *  baseFrames )

inline

findFrame()

CoordinateFrame* cnoid::MprIkPosition::findFrame ( CoordinateFrameList *  frames, int  frameType  )

inline

findOffsetFrame()

CoordinateFrame* cnoid::MprIkPosition::findOffsetFrame ( CoordinateFrameList *  offsetFrames )

inline

frameId()

const GeneralId& cnoid::MprIkPosition::frameId ( int  frameType ) const

inline

offsetFrameId()

const GeneralId& cnoid::MprIkPosition::offsetFrameId ( ) const

inline

operator=()

MprIkPosition& cnoid::MprIkPosition::operator= ( const MprIkPosition &  rhs )

delete

position()

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

inline

read()

bool MprIkPosition::read ( const Mapping &  archive )

overridevirtual

Reimplemented from cnoid::MprPosition.

referenceRpy()

const Vector3 cnoid::MprIkPosition::referenceRpy ( ) const

inline

resetReferenceRpy()

void MprIkPosition::resetReferenceRpy

(

)

rpy()

Vector3 MprIkPosition::rpy

(

)

const

setBaseFrameId()

void cnoid::MprIkPosition::setBaseFrameId ( const GeneralId &  id )

inline

setOffsetFrameId()

void cnoid::MprIkPosition::setOffsetFrameId ( const GeneralId &  id )

inline

setPosition()

void cnoid::MprIkPosition::setPosition ( const Isometry3 &  T )

inline

setReferenceRpy()

void MprIkPosition::setReferenceRpy

(

const Vector3 &

rpy

)

setRpy()

void MprIkPosition::setRpy

(

const Vector3 &

rpy

)

write()

bool MprIkPosition::write ( Mapping &  archive ) const

overridevirtual

Reimplemented from cnoid::MprPosition.

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

• MprPosition.h
• MprPosition.cpp