#include <PinDragIK.h>

Inheritance diagram for cnoid::PinDragIK:

Public Types
enum	AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

Public Member Functions
	PinDragIK (Body *body)

	~PinDragIK ()

Body *	body () const

void	setBaseLink (Link *baseLink)

void	setFreeRootWeight (double translation, double rotation)

void	setTargetLink (Link *targetLink, bool isAttitudeEnabled=false)

void	setJointWeight (int jointId, double weight)

void	setPin (Link *link, AxisSet axes=TRANSLATION_3D, double weight=1.0)

AxisSet	pinAxes (Link *link)

void	clearPins ()

int	numPinnedLinks ()

void	setIKErrorThresh (double e)

bool	hasAnalyticalIK ()

AxisSet	targetAxes () const

void	setSRInverseParameters (double k0, double w0)

void	enableJointRangeConstraints (bool on)

bool	initialize ()

virtual bool	calcInverseKinematics (const Isometry3 &T) override

Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()

virtual bool	calcRemainingPartForwardKinematicsForInverseKinematics ()

bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
	deprecated More...

Member Enumeration Documentation

◆ AxisSet

enum cnoid::PinDragIK::AxisSet

Enumerator
NO_AXES
TRANSLATION_3D
ROTATION_3D
TRANSFORM_6D

Constructor & Destructor Documentation

◆ PinDragIK()

PinDragIK::PinDragIK ( Body * body )

◆ ~PinDragIK()

PinDragIK::~PinDragIK ( )

Member Function Documentation

◆ body()

Body * PinDragIK::body ( ) const

◆ calcInverseKinematics()

bool PinDragIK::calcInverseKinematics ( const Isometry3 & T )

overridevirtual

Implements cnoid::InverseKinematics.

◆ clearPins()

void PinDragIK::clearPins ( )

◆ enableJointRangeConstraints()

void PinDragIK::enableJointRangeConstraints ( bool on )

◆ hasAnalyticalIK()

bool PinDragIK::hasAnalyticalIK ( )

◆ initialize()

bool PinDragIK::initialize ( )

this must be called before the initial calcInverseKinematics() call after settings have been changed.

◆ numPinnedLinks()

int PinDragIK::numPinnedLinks ( )

◆ pinAxes()

PinDragIK::AxisSet PinDragIK::pinAxes ( Link * link )

◆ setBaseLink()

void PinDragIK::setBaseLink ( Link * baseLink )

◆ setFreeRootWeight()

void PinDragIK::setFreeRootWeight	(	double	translation,
		double	rotation
	)

◆ setIKErrorThresh()

void PinDragIK::setIKErrorThresh ( double e )

◆ setJointWeight()

void PinDragIK::setJointWeight	(	int	jointId,
		double	weight
	)

◆ setPin()

void PinDragIK::setPin	(	Link *	link,
		PinDragIK::AxisSet	axes = `TRANSLATION_3D`,
		double	weight = `1.0`
	)

◆ setSRInverseParameters()

void PinDragIK::setSRInverseParameters	(	double	k0,
		double	w0
	)

◆ setTargetLink()

void PinDragIK::setTargetLink	(	Link *	targetLink,
		bool	isAttitudeEnabled = `false`
	)

◆ targetAxes()

PinDragIK::AxisSet PinDragIK::targetAxes ( ) const

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

Public Types

Public Member Functions