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

#include <MprPosition.h>

Inheritance diagram for cnoid::MprIkPosition:
cnoid::MprPosition cnoid::ClonableReferenced cnoid::Referenced

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)
 
MprIkPositionoperator= (const MprIkPosition &rhs)=delete
 
const Isometry3position () 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 GeneralIdbaseFrameId () const
 
const GeneralIdoffsetFrameId () const
 
const GeneralIdframeId (int frameType) const
 
CoordinateFramefindBaseFrame (CoordinateFrameList *baseFrames)
 
CoordinateFramefindOffsetFrame (CoordinateFrameList *offsetFrames)
 
CoordinateFramefindFrame (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
MprPositionoperator= (const MprPosition &rhs)=delete
 
MprPositionclone () const
 
const GeneralIdid () const
 
void setId (const GeneralId &id)
 
int positionType () const
 
bool isIK () const
 
bool isFK () const
 
MprIkPositionikPosition ()
 
MprFkPositionfkPosition ()
 
MprPositionListownerPositionList ()
 
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 ReferenceddoClone (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

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

◆ 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.


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