cnoid::MprPosition Class Reference

#include <MprPosition.h>

Inheritance diagram for cnoid::MprPosition:

Public Types
enum	PositionType { IK, FK }
enum	UpdateFlag { IdUpdate = 1 << 0, NoteUpdate = 1 << 1, PositionUpdate = 1 << 2, ObjectReplaced = 1 << 3 }

Public Member Functions
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 ()
virtual bool	fetch (LinkKinematicsKit *kinematicsKit)=0
virtual bool	apply (LinkKinematicsKit *kinematicsKit) const =0
const std::string &	note () const
void	setNote (const std::string &note)
virtual bool	read (const Mapping &archive)
virtual bool	write (Mapping &archive) const
SignalProxy< void(int flags)>	sigUpdated ()
void	notifyUpdate (int flags)
Public Member Functions inherited from cnoid::ClonableReferenced
virtual Referenced *	doClone (CloneMap *cloneMap) const =0
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Attributes
static constexpr int	MaxNumJoints = 8

Protected Member Functions
	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

Friends
class	MprPositionList

Member Enumeration Documentation

PositionType

enum cnoid::MprPosition::PositionType

Enumerator
IK
FK

UpdateFlag

enum cnoid::MprPosition::UpdateFlag

Enumerator
IdUpdate
NoteUpdate
PositionUpdate
ObjectReplaced

Constructor & Destructor Documentation

MprPosition() [1/3]

MprPosition::MprPosition ( PositionType  type )

protected

MprPosition() [2/3]

MprPosition::MprPosition ( PositionType  type, const GeneralId &  id  )

protected

MprPosition() [3/3]

MprPosition::MprPosition ( const MprPosition &  org )

protected

Member Function Documentation

apply()

virtual bool cnoid::MprPosition::apply ( LinkKinematicsKit *  kinematicsKit ) const

pure virtual

Implemented in cnoid::MprFkPosition, and cnoid::MprIkPosition.

clone()

MprPosition* cnoid::MprPosition::clone ( ) const

inline

fetch()

virtual bool cnoid::MprPosition::fetch ( LinkKinematicsKit *  kinematicsKit )

pure virtual

Implemented in cnoid::MprFkPosition, and cnoid::MprIkPosition.

fkPosition()

MprFkPosition * MprPosition::fkPosition

(

)

id()

const GeneralId& cnoid::MprPosition::id ( ) const

inline

ikPosition()

MprIkPosition * MprPosition::ikPosition

(

)

isFK()

bool cnoid::MprPosition::isFK ( ) const

inline

isIK()

bool cnoid::MprPosition::isIK ( ) const

inline

note()

const std::string& cnoid::MprPosition::note ( ) const

inline

notifyUpdate()

void MprPosition::notifyUpdate

(

int

flags

)

operator=()

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

delete

ownerPositionList()

MprPositionList * MprPosition::ownerPositionList

(

)

positionType()

int cnoid::MprPosition::positionType ( ) const

inline

read()

bool MprPosition::read ( const Mapping &  archive )

virtual

Reimplemented in cnoid::MprFkPosition, and cnoid::MprIkPosition.

setId()

void MprPosition::setId

(

const GeneralId &

id

)

Note

This function only works when the position is not belonging to any position list.

setNote()

void cnoid::MprPosition::setNote ( const std::string &  note )

inline

sigUpdated()

SignalProxy<void(int flags)> cnoid::MprPosition::sigUpdated ( )

inline

write()

bool MprPosition::write ( Mapping &  archive ) const

virtual

Reimplemented in cnoid::MprFkPosition, and cnoid::MprIkPosition.

Friends And Related Function Documentation

MprPositionList

friend class MprPositionList

friend

Member Data Documentation

MaxNumJoints

constexpr int MprPosition::MaxNumJoints = 8

staticconstexpr

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

• MprPosition.h
• MprPosition.cpp