クラス
class	AbstractVrmlGroup

class	AccelSensor

class	Body

class	BodyBar

struct	BodyCustomizerInterface

struct	BodyHandleEntity

struct	BodyInterface

class	BodyItem

class	BodyLinkView

class	BodyLoader

class	BodyMotion

class	BodyMotionItem

class	BodyMotionPoseProvider

class	ColdetLinkPair

class	ColdetModel

class	ColdetModelPair

class	ColdetModelSharedDataSet

class	collision_data

class	CollisionPairInserter

class	CompositeIK

class	ConstraintForceSolver

class	DynamicsSimulatorItem

class	EasyScanner

class	ForceSensor

class	ForwardDynamics

class	ForwardDynamicsABM

class	ForwardDynamicsMM

class	ImageConverter

class	Interpolator

class	InverseKinematics

class	JointNodeSet

class	JointPath

class	JointSliderView

class	KinematicFaultChecker

class	KinematicsBar

class	KinematicsSimulatorItem

class	LeggedBody

class	Link

class	LinkGroup

class	LinkPath

class	LinkSelectionView

class	LinkTraverse

class	LinkTreeItem

class	LinkTreeWidget

class	ModelNodeSet

class	MultiAffine3Seq

class	MultiAffine3SeqGraphView

class	MultiSeq

class	MultiSeqBase

class	MultiValueSeq

class	MultiValueSeqGraphView

class	OsgCollision

class	PenetrationBlocker

class	PinDragIK

class	PlainSeqFileLoader

class	PoseProvider

class	PoseProviderToBodyMotionConverter

class	RangeLimiter

class	RangeSensor

class	RateGyroSensor

class	Referenced

class	SceneBody

class	SceneBodyManager

class	SceneWorld

class	SceneWorldManager

class	Sensor

class	Seq

class	SeqBase

struct	SFImage

struct	SFTime

class	SimulationBar

class	SimulatorItem

class	SymmetricPoseChanger

class	TriangleMeshShaper

class	Triangulator

class	Vector3Seq

class	VrmlAnchor

class	VrmlAppearance
	VRML Appearance node. [詳解]

class	VrmlBackground
	VRML Background node. [詳解]

class	VrmlBillboard

class	VrmlBox
	VRML Box node. [詳解]

class	VrmlCollision

class	VrmlColor
	VRML Color node. [詳解]

class	VrmlCone
	VRML Cone node. [詳解]

class	VrmlCoordinate
	VRML Coordinate node. [詳解]

class	VrmlCylinder
	VRML Cylinder node. [詳解]

class	VrmlCylinderSensor
	VRML CylinderSensor node. [詳解]

class	VrmlDirectionalLight

class	VrmlElevationGrid
	VRML ElevationGrid node. [詳解]

class	VrmlExtrusion
	VRML Extrusion node. [詳解]

class	VrmlFog

class	VrmlFontStyle
	VRML FontStyle node. [詳解]

class	VrmlGeometry
	Base class of VRML geometry nodes. [詳解]

class	VrmlGroup
	VRML Group node. [詳解]

class	VrmlImageTexture
	VRML ImageTexture node. [詳解]

class	VrmlIndexedFaceSet
	VRML IndexedFaseSet node. [詳解]

class	VrmlIndexedLineSet
	VRML IndexedLineSet node. [詳解]

class	VrmlInline
	VRML Inline node. [詳解]

class	VrmlLOD

class	VrmlMaterial
	VRML Material node. [詳解]

class	VrmlMovieTexture
	VRML MovieTexture node. [詳解]

class	VrmlNavigationInfo
	VRML NavigationInfo node. [詳解]

class	VrmlNode
	Abstract base class of all vrml nodes. [詳解]

class	VrmlNormal
	VRML Normal node. [詳解]

class	VrmlParser
	Parser for VRML97 format. [詳解]

class	VrmlPixelTexture
	VRML PixelTexture node. [詳解]

class	VrmlPointLight

class	VrmlPointSet
	VRML PointSet node. [詳解]

class	VrmlProto
	VRML Proto definition. [詳解]

class	VrmlProtoInstance
	VRML node which is instance of VRML Prototype. [詳解]

class	VrmlShape
	VRML Shape node. [詳解]

class	VrmlSphere
	VRML Sphere node. [詳解]

class	VrmlSpotLight

class	VrmlSwitch

class	VrmlText
	VRML Text node. [詳解]

class	VrmlTexture
	Base class of VRML Texture nodes. [詳解]

class	VrmlTextureCoordinate
	VRML TextureCoordinate node. [詳解]

class	VrmlTextureTransform
	VRML TextureTransform node. [詳解]

class	VrmlTransform
	VRML Transform node. [詳解]

class	VrmlUnsupportedNode

class	VrmlViewpoint
	VRML Viewpoint node. [詳解]

class	VrmlWorldInfo

class	VrmlWriter

class	World

class	WorldBase

class	WorldItem

class	WorldView

class	YamlCollection

class	YamlMapping

class	YamlNode

class	YamlReader

class	YamlScalar

class	YamlSequence

class	YamlWriter

型定義
typedef boost::shared_ptr< EasyScanner >	EasyScannerPtr

typedef Eigen::Matrix2d	Matrix2

typedef Eigen::Vector2d	Vector2

typedef Eigen::Matrix3d	Matrix3

typedef Eigen::Vector3d	Vector3

typedef Eigen::Matrix4d	Matrix4

typedef Eigen::Vector4d	Vector4

typedef Eigen::Affine3d	Affine3

typedef MultiAffine3Seq::Ptr	MultiAffine3SeqPtr

typedef MultiValueSeq::Ptr	MultiValueSeqPtr

typedef boost::intrusive_ptr< Referenced >	ReferencedPtr

typedef boost::shared_ptr< SeqBase >	SeqBasePtr

typedef boost::shared_ptr< MultiSeqBase >	MultiSeqBasePtr

typedef boost::shared_ptr< Vector3Seq >	Vector3SeqPtr

typedef bool	SFBool

typedef int	SFInt32

typedef double	SFFloat

typedef std::string	SFString

typedef Eigen::Vector2d	SFVec2f

typedef Eigen::Vector3d	SFVec3f

typedef Eigen::Array3f	SFColor

typedef Eigen::AngleAxisd	SFRotation

typedef std::vector< SFInt32 >	MFInt32

typedef std::vector< SFFloat >	MFFloat

typedef std::vector< SFVec2f, Eigen::aligned_allocator< SFVec2f > >	MFVec2f

typedef std::vector< SFVec3f >	MFVec3f

typedef std::vector< SFRotation >	MFRotation

typedef std::vector< SFTime >	MFTime

typedef std::vector< SFColor >	MFColor

typedef std::vector< SFString >	MFString

typedef boost::intrusive_ptr< VrmlNode >	VrmlNodePtr

typedef VrmlNodePtr	SFNode

typedef std::vector< SFNode >	MFNode

typedef boost::intrusive_ptr< VrmlUnsupportedNode >	VrmlUnsupportedNodePtr

typedef boost::intrusive_ptr< VrmlViewpoint >	VrmlViewpointPtr

typedef boost::intrusive_ptr< VrmlNavigationInfo >	VrmlNavigationInfoPtr

typedef boost::intrusive_ptr< VrmlBackground >	VrmlBackgroundPtr

typedef boost::intrusive_ptr< AbstractVrmlGroup >	AbstractVrmlGroupPtr

typedef boost::intrusive_ptr< VrmlGroup >	VrmlGroupPtr

typedef boost::intrusive_ptr< VrmlTransform >	VrmlTransformPtr

typedef boost::intrusive_ptr< VrmlInline >	VrmlInlinePtr

typedef boost::intrusive_ptr< VrmlAppearance >	VrmlAppearancePtr

typedef boost::intrusive_ptr< VrmlGeometry >	VrmlGeometryPtr

typedef boost::intrusive_ptr< VrmlShape >	VrmlShapePtr

typedef boost::intrusive_ptr< VrmlMaterial >	VrmlMaterialPtr

typedef boost::intrusive_ptr< VrmlTexture >	VrmlTexturePtr

typedef boost::intrusive_ptr< VrmlTextureTransform >	VrmlTextureTransformPtr

typedef boost::intrusive_ptr< VrmlImageTexture >	VrmlImageTexturePtr

typedef boost::intrusive_ptr< VrmlBox >	VrmlBoxPtr

typedef boost::intrusive_ptr< VrmlCone >	VrmlConePtr

typedef boost::intrusive_ptr< VrmlCylinder >	VrmlCylinderPtr

typedef boost::intrusive_ptr< VrmlSphere >	VrmlSpherePtr

typedef boost::intrusive_ptr< VrmlFontStyle >	VrmlFontStylePtr

typedef boost::intrusive_ptr< VrmlText >	VrmlTextPtr

typedef boost::intrusive_ptr< VrmlColor >	VrmlColorPtr

typedef boost::intrusive_ptr< VrmlCoordinate >	VrmlCoordinatePtr

typedef boost::intrusive_ptr< VrmlIndexedLineSet >	VrmlIndexedLineSetPtr

typedef boost::intrusive_ptr< VrmlNormal >	VrmlNormalPtr

typedef boost::intrusive_ptr< VrmlTextureCoordinate >	VrmlTextureCoordinatePtr

typedef boost::intrusive_ptr< VrmlIndexedFaceSet >	VrmlIndexedFaceSetPtr

typedef boost::intrusive_ptr< VrmlCylinderSensor >	VrmlCylinderSensorPtr

typedef boost::intrusive_ptr< VrmlPointSet >	VrmlPointSetPtr

typedef boost::intrusive_ptr< VrmlPixelTexture >	VrmlPixelTexturePtr

typedef boost::intrusive_ptr< VrmlMovieTexture >	VrmlMovieTexturePtr

typedef boost::intrusive_ptr< VrmlElevationGrid >	VrmlElevationGridPtr

typedef boost::intrusive_ptr< VrmlExtrusion >	VrmlExtrusionPtr

typedef boost::intrusive_ptr< VrmlSwitch >	VrmlSwitchPtr

typedef boost::intrusive_ptr< VrmlLOD >	VrmlLODPtr

typedef boost::intrusive_ptr< VrmlCollision >	VrmlCollisionPtr

typedef boost::intrusive_ptr< VrmlAnchor >	VrmlAnchorPtr

typedef boost::intrusive_ptr< VrmlBillboard >	VrmlBillboardPtr

typedef boost::intrusive_ptr< VrmlFog >	VrmlFogPtr

typedef boost::intrusive_ptr< VrmlWorldInfo >	VrmlWorldInfoPtr

typedef boost::intrusive_ptr< VrmlPointLight >	VrmlPointLightPtr

typedef boost::intrusive_ptr< VrmlDirectionalLight >	VrmlDirectionalLightPtr

typedef boost::intrusive_ptr< VrmlSpotLight >	VrmlSpotLightPtr

typedef boost::variant< SFBool, SFInt32, SFFloat, SFVec2f, SFVec3f, SFRotation, SFColor, SFTime, SFString, SFNode, SFImage, MFInt32, MFFloat, MFVec2f, MFVec3f, MFRotation, MFColor, MFTime, MFString, MFNode >	VrmlVariantField

typedef std::map< std::string, VrmlVariantField >	TProtoFieldMap

typedef std::pair< std::string, VrmlVariantField >	TProtoFieldPair

typedef boost::intrusive_ptr< VrmlProto >	VrmlProtoPtr

typedef boost::intrusive_ptr< VrmlProtoInstance >	VrmlProtoInstancePtr

typedef boost::intrusive_ptr< YamlNode >	YamlNodePtr

typedef boost::intrusive_ptr< YamlMapping >	YamlMappingPtr

typedef boost::intrusive_ptr< YamlSequence >	YamlSequencePtr

typedef boost::intrusive_ptr< Body >	BodyPtr

typedef boost::shared_ptr< JointPath >	JointPathPtr

typedef boost::shared_ptr< InverseKinematics >	InverseKinematicsPtr

typedef void *	BodyHandle

typedef void *	BodyCustomizerHandle

typedef int(*	BodyGetLinkIndexFromNameFunc) (BodyHandle bodyHandle, const char *linkName)

typedef const char (	BodyGetLinkNameFunc) (BodyHandle bodyHandle, int linkIndex)

typedef double (	BodyGetLinkDoubleValuePtrFunc) (BodyHandle bodyHandle, int linkIndex)

typedef const char *(	BodyCustomizerGetTargetModelNamesFunc) ()

typedef BodyCustomizerHandle(*	BodyCustomizerCreateFunc) (BodyHandle bodyHandle, const char *modelName)

typedef void(*	BodyCustomizerDestroyFunc) (BodyCustomizerHandle customizerHandle)

typedef int(*	BodyCustomizerInitializeAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)

typedef bool(*	BodyCustomizerCalcAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)

typedef void(*	BodyCustomizerSetVirtualJointForcesFunc) (BodyCustomizerHandle customizerHandle)

typedef BodyCustomizerInterface (	GetBodyCustomizerInterfaceFunc) (BodyInterface *bodyInterface)

typedef boost::shared_ptr< ModelNodeSet >	ModelNodeSetPtr

typedef boost::shared_ptr< BodyMotion >	BodyMotionPtr

typedef boost::intrusive_ptr< ColdetLinkPair >	ColdetLinkPairPtr

typedef boost::shared_ptr< CompositeIK >	CompositeIKptr

typedef boost::shared_ptr< ForwardDynamics >	ForwardDynamicsPtr

typedef boost::shared_ptr< ForwardDynamicsMM >	ForwardDynamicsMMPtr

typedef boost::intrusive_ptr< LeggedBody >	LeggedBodyPtr

typedef boost::intrusive_ptr< LinkGroup >	LinkGroupPtr

typedef boost::shared_ptr< JointNodeSet >	JointNodeSetPtr

typedef std::vector< JointNodeSetPtr >	JointNodeSetArray

typedef boost::shared_ptr< PenetrationBlocker >	PenetrationBlockerPtr

typedef boost::shared_ptr< PinDragIK >	PinDragIKptr

typedef boost::intrusive_ptr< ColdetModel >	ColdetModelPtr

typedef boost::intrusive_ptr< ColdetModelPair >	ColdetModelPairPtr

typedef boost::intrusive_ptr< BodyItem >	BodyItemPtr

typedef boost::intrusive_ptr< BodyMotionItem >	BodyMotionItemPtr

typedef boost::intrusive_ptr< DynamicsSimulatorItem >	DynamicsSimulatorItemPtr

typedef boost::intrusive_ptr< KinematicsSimulatorItem >	KinematicsSimulatorItemPtr

typedef osg::ref_ptr< SceneBody >	SceneBodyPtr

typedef osg::ref_ptr< SceneWorld >	SceneWorldPtr

typedef boost::intrusive_ptr< SimulatorItem >	SimulatorItemPtr

typedef boost::intrusive_ptr< WorldItem >	WorldItemPtr

列挙型
enum	{ LEFT, TOP, FRONT, BOTTOM, RIGHT, BACK }

enum	VrmlNodeCategory { ANY_NODE = -1, PROTO_DEF_NODE = 0, PROTO_INSTANCE_NODE, TOP_NODE, BINDABLE_NODE, GROUPING_NODE, CHILD_NODE, APPEARANCE_NODE, MATERIAL_NODE, TEXTURE_NODE, TEXTURE_TRANSFORM_NODE, SHAPE_NODE, GEOMETRY_NODE, COORDINATE_NODE, COLOR_NODE, NORMAL_NODE, TEXTURE_COORDINATE_NODE, FONT_STYLE_NODE, SENSOR_NODE, INLINE_NODE, NUM_VRML_NODE_CATEGORIES }

enum	VrmlFieldTypeId { SFBOOL, SFINT32, SFFLOAT, SFVEC2F, SFVEC3F, SFROTATION, SFCOLOR, SFTIME, SFSTRING, SFNODE, SFIMAGE, MFINT32, MFFLOAT, MFVEC2F, MFVEC3F, MFROTATION, MFCOLOR, MFTIME, MFSTRING, MFNODE, UNKNOWN_VRML_FIELD_TYPE }

enum	YamlNodeType { YAML_NONE = 0, YAML_MAPPING, YAML_SEQUENCE, YAML_SCALAR, YAML_LF }

enum	YamlStringStyle { YAML_PLAIN_STRING, YAML_SINGLE_QUOTED, YAML_DOUBLE_QUOTED, YAML_LITERAL, YAML_FOLDED }

関数
CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, double &value)

CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, int &value)

CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, const char *matchString)

CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, char matchChar)

CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, std::string &str)

CNOID_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, EasyScanner::Endl endl)

Matrix3	rotFromRpy (double r, double p, double y)

Vector3	omegaFromRot (const Matrix3 &R)

double	degree (double rad)

double	radian (double deg)

template<typename Derived >
Eigen::Matrix< typename Eigen::MatrixBase< Derived >::Scalar, 3, 1 >	rpyFromRot (const Eigen::MatrixBase< Derived > &R)

Matrix3	rotFromRpy (const Vector3 &rpy)

Matrix3	hat (const Vector3 &x)

template<typename Derived >
bool	read (const YamlMapping &mapping, const std::string &key, Eigen::MatrixBase< Derived > &x)

template<typename Derived >
void	readEx (const YamlMapping &mapping, const std::string &key, Eigen::MatrixBase< Derived > &x)

template<typename Derived >
YamlSequence &	write (YamlMapping &mapping, const std::string &key, const Eigen::MatrixBase< Derived > &x)

void	makePathCompact (const filesystem::path &path, filesystem::path &out_compact)

bool	findSubDirectory (const filesystem::path &directory, const filesystem::path &path, filesystem::path &out_subdirectory)

bool	findRelativePath (const filesystem::path &from_, const filesystem::path &to, filesystem::path &out_relativePath)

CNOID_EXPORT void	makePathCompact (const boost::filesystem::path &path, boost::filesystem::path &out_compact)

CNOID_EXPORT bool	findSubDirectory (const boost::filesystem::path &directory, const boost::filesystem::path &path, boost::filesystem::path &out_subdirectory)

CNOID_EXPORT bool	findRelativePath (const boost::filesystem::path &from, const boost::filesystem::path &to, boost::filesystem::path &out_relativePath)

const std::string &	toActualPathName (const std::string &pathName)

template<class T >
void	setGaussWindow (T sigma, int range, std::vector< T > &out_window)

template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void	applyGaussianFilter (RESULTVECTOR &result, const SRCVECTOR &src, std::vector< T > &gwin, ELEMENT zero)

template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >
void	applyGaussianFilter (RESULTVECTOR &result, const SRCVECTOR &src, T sigma, int range, ELEMENT zero)

std::ostream &	nullout ()

void	intrusive_ptr_add_ref (cnoid::Referenced *obj)

void	intrusive_ptr_release (cnoid::Referenced *obj)

void	msleep (int msec)

void	usleep (int usec)

const std::string &	toUtf8 (const std::string &text)

const std::string &	fromUtf8 (const std::string &text)

const std::string	toUtf8 (const char *text)

const std::string	fromUtf8 (const char *text)

void	intrusive_ptr_add_ref (VrmlNode *obj)

void	intrusive_ptr_release (VrmlNode *obj)

template<typename TValue >
int	vrmlFieldTypeId ()

template<>
int	vrmlFieldTypeId< SFInt32 > ()

template<>
int	vrmlFieldTypeId< MFInt32 > ()

template<>
int	vrmlFieldTypeId< SFFloat > ()

template<>
int	vrmlFieldTypeId< MFFloat > ()

template<>
int	vrmlFieldTypeId< SFVec3f > ()

template<>
int	vrmlFieldTypeId< MFVec3f > ()

template<>
int	vrmlFieldTypeId< SFRotation > ()

template<>
int	vrmlFieldTypeId< MFRotation > ()

template<>
int	vrmlFieldTypeId< SFTime > ()

template<>
int	vrmlFieldTypeId< MFTime > ()

template<>
int	vrmlFieldTypeId< SFColor > ()

template<>
int	vrmlFieldTypeId< MFColor > ()

template<>
int	vrmlFieldTypeId< SFString > ()

template<>
int	vrmlFieldTypeId< MFString > ()

template<>
int	vrmlFieldTypeId< SFNode > ()

template<>
int	vrmlFieldTypeId< MFNode > ()

template<>
int	vrmlFieldTypeId< SFImage > ()

CNOID_EXPORT const char *	labelOfVrmlFieldTypeId (int type)

template<typename TValue >
const char *	labelOfVrmlFieldType ()

template<class VrmlNodeType >
boost::intrusive_ptr< VrmlNodeType >	dynamic_node_cast (VrmlNodePtr node)

void	intrusive_ptr_add_ref (cnoid::YamlNode *obj)

void	intrusive_ptr_release (cnoid::YamlNode *obj)

CNOID_EXPORT int	loadBodyCustomizers (const std::string pathString, BodyInterface *bodyInterface)

CNOID_EXPORT int	loadBodyCustomizers (const std::string pathString)

CNOID_EXPORT int	loadBodyCustomizers (BodyInterface *bodyInterface)

CNOID_EXPORT int	loadBodyCustomizers ()

CNOID_EXPORT BodyCustomizerInterface *	findBodyCustomizer (std::string modelName)

BodyMotion::Frame &	operator<< (const BodyMotion::Frame &frame, const Body &body)

BodyMotion::Frame &	operator>> (const BodyMotion::Frame &frame, const Body &body)

CNOID_EXPORT bool	loadHrpsysSeqFileSet (BodyMotion &motion, const std::string &filename, std::ostream &os)

CNOID_EXPORT bool	saveHrpsysSeqFileSet (BodyMotion &motion, BodyPtr body, const std::string &filename, std::ostream &os)

CNOID_EXPORT void	calcLinkAccSeq (MultiAffine3Seq &linkPosSeq, Sensor *gsens, int frameBegin, int numFrames, Vector3Seq &out_accSeq)

CNOID_EXPORT bool	applyVelocityLimitFilter (MultiValueSeq &seq, BodyPtr body, std::ostream &os=nullout())

CNOID_EXPORT bool	applyVelocityLimitFilter2 (MultiValueSeq &seq, int part, double absLimit)

CNOID_EXPORT bool	applyVelocityLimitFilterDummy ()

CNOID_EXPORT bool	applyPollardVelocityLimitFilter (MultiValueSeq &seq, BodyPtr body, double ks, std::ostream &os=nullout())

CNOID_EXPORT void	applyGaussianFilter (MultiValueSeq &seq, double sigma, int range, std::ostream &os=nullout())

CNOID_EXPORT void	applyRangeLimitFilter (MultiValueSeq &seq, BodyPtr body, double limitGrad, double edgeGradRatio, double margin, std::ostream &os=nullout())

void	calcInverseDynamics (const BodyPtr &body, Link *ptr, Vector3 &out_f, Vector3 &out_tau)

void	calcCMJacobian (const BodyPtr &body, Link *base, Eigen::MatrixXd &J)
	compute CoM Jacobian [詳解]

CNOID_EXPORT void	calcCmJacobian (const BodyPtr &body, Link *base, Eigen::MatrixXd &J)

void	calcMassMatrix (const BodyPtr &body, Eigen::MatrixXd &out_M)

CNOID_EXPORT void	calcMassMatrix (const BodyPtr &body, MatrixXd &out_M)

HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var	getOnlineViewer (int argc, char **argv)

HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var	getOnlineViewer (CORBA_ORB_var orb)

void	initializeBodyItem (ExtensionManager &ext)

void	initializeBodyMotionEngine (ExtensionManager &em)

void	initializeBodyMotionItem (ExtensionManager &ext)

void	initializeDynamicsSimulatorItem (ExtensionManager &ext)

void	initializeFilterDialogs (ExtensionManager &ext)

void	initializeKinematicsSimulatorItem (ExtensionManager &ext)

void	initializeWorldItem (ExtensionManager &ext)

変数
const double	PI = 3.14159265358979323846

const double	PI_2 = 1.57079632679489661923

詳解

著者: Shin'ichiro Nakaoka; Shin'ichiro Nakaoka; Shin'ichiro NAKAOKA

型定義詳解

typedef boost::intrusive_ptr<AbstractVrmlGroup> cnoid::AbstractVrmlGroupPtr

typedef Eigen::Affine3d cnoid::Affine3

typedef bool(* cnoid::BodyCustomizerCalcAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)

typedef BodyCustomizerHandle(* cnoid::BodyCustomizerCreateFunc) (BodyHandle bodyHandle, const char *modelName)

typedef void(* cnoid::BodyCustomizerDestroyFunc) (BodyCustomizerHandle customizerHandle)

typedef const char**(* cnoid::BodyCustomizerGetTargetModelNamesFunc) ()

typedef void * cnoid::BodyCustomizerHandle

typedef int(* cnoid::BodyCustomizerInitializeAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)

typedef void(* cnoid::BodyCustomizerSetVirtualJointForcesFunc) (BodyCustomizerHandle customizerHandle)

typedef double*(* cnoid::BodyGetLinkDoubleValuePtrFunc) (BodyHandle bodyHandle, int linkIndex)

typedef int(* cnoid::BodyGetLinkIndexFromNameFunc) (BodyHandle bodyHandle, const char *linkName)

typedef const char*(* cnoid::BodyGetLinkNameFunc) (BodyHandle bodyHandle, int linkIndex)

typedef void * cnoid::BodyHandle

typedef boost::intrusive_ptr<BodyItem> cnoid::BodyItemPtr

typedef boost::intrusive_ptr<BodyMotionItem> cnoid::BodyMotionItemPtr

typedef boost::shared_ptr<BodyMotion> cnoid::BodyMotionPtr

typedef boost::intrusive_ptr< Body > cnoid::BodyPtr

typedef boost::intrusive_ptr<ColdetLinkPair> cnoid::ColdetLinkPairPtr

typedef boost::intrusive_ptr<ColdetModelPair> cnoid::ColdetModelPairPtr

typedef boost::intrusive_ptr<ColdetModel> cnoid::ColdetModelPtr

typedef boost::shared_ptr<CompositeIK> cnoid::CompositeIKptr

typedef boost::intrusive_ptr<DynamicsSimulatorItem> cnoid::DynamicsSimulatorItemPtr

typedef boost::shared_ptr<EasyScanner> cnoid::EasyScannerPtr

typedef boost::shared_ptr<ForwardDynamicsMM> cnoid::ForwardDynamicsMMPtr

typedef boost::shared_ptr<ForwardDynamics> cnoid::ForwardDynamicsPtr

typedef BodyCustomizerInterface*(* cnoid::GetBodyCustomizerInterfaceFunc) (BodyInterface *bodyInterface)

typedef boost::shared_ptr< InverseKinematics > cnoid::InverseKinematicsPtr

typedef std::vector<JointNodeSetPtr> cnoid::JointNodeSetArray

typedef boost::shared_ptr<JointNodeSet> cnoid::JointNodeSetPtr

typedef boost::shared_ptr< JointPath > cnoid::JointPathPtr

typedef boost::intrusive_ptr<KinematicsSimulatorItem> cnoid::KinematicsSimulatorItemPtr

typedef boost::intrusive_ptr<LeggedBody> cnoid::LeggedBodyPtr

typedef boost::intrusive_ptr<LinkGroup> cnoid::LinkGroupPtr

typedef Eigen::Matrix2d cnoid::Matrix2

typedef Eigen::Matrix3d cnoid::Matrix3

typedef Eigen::Matrix4d cnoid::Matrix4

typedef std::vector<SFColor> cnoid::MFColor

typedef std::vector<SFFloat> cnoid::MFFloat

typedef std::vector<SFInt32> cnoid::MFInt32

typedef std::vector<SFNode> cnoid::MFNode

typedef std::vector<SFRotation> cnoid::MFRotation

typedef std::vector<SFString> cnoid::MFString

typedef std::vector<SFTime> cnoid::MFTime

typedef std::vector<SFVec2f, Eigen::aligned_allocator<SFVec2f> > cnoid::MFVec2f

typedef std::vector<SFVec3f> cnoid::MFVec3f

typedef boost::shared_ptr< ModelNodeSet > cnoid::ModelNodeSetPtr

typedef MultiAffine3Seq::Ptr cnoid::MultiAffine3SeqPtr

typedef boost::shared_ptr<MultiSeqBase> cnoid::MultiSeqBasePtr

typedef MultiValueSeq::Ptr cnoid::MultiValueSeqPtr

typedef boost::shared_ptr< PenetrationBlocker > cnoid::PenetrationBlockerPtr

typedef boost::shared_ptr< PinDragIK > cnoid::PinDragIKptr

typedef boost::intrusive_ptr<Referenced> cnoid::ReferencedPtr

typedef osg::ref_ptr<SceneBody> cnoid::SceneBodyPtr

typedef osg::ref_ptr<SceneWorld> cnoid::SceneWorldPtr

typedef boost::shared_ptr<SeqBase> cnoid::SeqBasePtr

typedef bool cnoid::SFBool

typedef Eigen::Array3f cnoid::SFColor

typedef double cnoid::SFFloat

typedef int cnoid::SFInt32

typedef VrmlNodePtr cnoid::SFNode

typedef Eigen::AngleAxisd cnoid::SFRotation

typedef std::string cnoid::SFString

typedef Eigen::Vector2d cnoid::SFVec2f

typedef Eigen::Vector3d cnoid::SFVec3f

typedef boost::intrusive_ptr<SimulatorItem> cnoid::SimulatorItemPtr

typedef std::map<std::string, VrmlVariantField> cnoid::TProtoFieldMap

typedef std::pair<std::string, VrmlVariantField> cnoid::TProtoFieldPair

typedef Eigen::Vector2d cnoid::Vector2

typedef Eigen::Vector3d cnoid::Vector3

typedef boost::shared_ptr<Vector3Seq> cnoid::Vector3SeqPtr

typedef Eigen::Vector4d cnoid::Vector4

typedef boost::intrusive_ptr<VrmlAnchor> cnoid::VrmlAnchorPtr

typedef boost::intrusive_ptr<VrmlAppearance> cnoid::VrmlAppearancePtr

typedef boost::intrusive_ptr<VrmlBackground> cnoid::VrmlBackgroundPtr

typedef boost::intrusive_ptr<VrmlBillboard> cnoid::VrmlBillboardPtr

typedef boost::intrusive_ptr<VrmlBox> cnoid::VrmlBoxPtr

typedef boost::intrusive_ptr<VrmlCollision> cnoid::VrmlCollisionPtr

typedef boost::intrusive_ptr<VrmlColor> cnoid::VrmlColorPtr

typedef boost::intrusive_ptr<VrmlCone> cnoid::VrmlConePtr

typedef boost::intrusive_ptr<VrmlCoordinate> cnoid::VrmlCoordinatePtr

typedef boost::intrusive_ptr<VrmlCylinder> cnoid::VrmlCylinderPtr

typedef boost::intrusive_ptr<VrmlCylinderSensor> cnoid::VrmlCylinderSensorPtr

typedef boost::intrusive_ptr<VrmlDirectionalLight> cnoid::VrmlDirectionalLightPtr

typedef boost::intrusive_ptr<VrmlElevationGrid> cnoid::VrmlElevationGridPtr

typedef boost::intrusive_ptr<VrmlExtrusion> cnoid::VrmlExtrusionPtr

typedef boost::intrusive_ptr<VrmlFog> cnoid::VrmlFogPtr

typedef boost::intrusive_ptr<VrmlFontStyle> cnoid::VrmlFontStylePtr

typedef boost::intrusive_ptr<VrmlGeometry> cnoid::VrmlGeometryPtr

typedef boost::intrusive_ptr<VrmlGroup> cnoid::VrmlGroupPtr

typedef boost::intrusive_ptr<VrmlImageTexture> cnoid::VrmlImageTexturePtr

typedef boost::intrusive_ptr<VrmlIndexedFaceSet> cnoid::VrmlIndexedFaceSetPtr

typedef boost::intrusive_ptr<VrmlIndexedLineSet> cnoid::VrmlIndexedLineSetPtr

typedef boost::intrusive_ptr<VrmlInline> cnoid::VrmlInlinePtr

typedef boost::intrusive_ptr<VrmlLOD> cnoid::VrmlLODPtr

typedef boost::intrusive_ptr<VrmlMaterial> cnoid::VrmlMaterialPtr

typedef boost::intrusive_ptr<VrmlMovieTexture> cnoid::VrmlMovieTexturePtr

typedef boost::intrusive_ptr<VrmlNavigationInfo> cnoid::VrmlNavigationInfoPtr

typedef boost::intrusive_ptr<VrmlNode> cnoid::VrmlNodePtr

typedef boost::intrusive_ptr<VrmlNormal> cnoid::VrmlNormalPtr

typedef boost::intrusive_ptr<VrmlPixelTexture> cnoid::VrmlPixelTexturePtr

typedef boost::intrusive_ptr<VrmlPointLight> cnoid::VrmlPointLightPtr

typedef boost::intrusive_ptr<VrmlPointSet> cnoid::VrmlPointSetPtr

typedef boost::intrusive_ptr<VrmlProtoInstance> cnoid::VrmlProtoInstancePtr

typedef boost::intrusive_ptr<VrmlProto> cnoid::VrmlProtoPtr

typedef boost::intrusive_ptr<VrmlShape> cnoid::VrmlShapePtr

typedef boost::intrusive_ptr<VrmlSphere> cnoid::VrmlSpherePtr

typedef boost::intrusive_ptr<VrmlSpotLight> cnoid::VrmlSpotLightPtr

typedef boost::intrusive_ptr<VrmlSwitch> cnoid::VrmlSwitchPtr

typedef boost::intrusive_ptr<VrmlText> cnoid::VrmlTextPtr

typedef boost::intrusive_ptr<VrmlTextureCoordinate> cnoid::VrmlTextureCoordinatePtr

typedef boost::intrusive_ptr<VrmlTexture> cnoid::VrmlTexturePtr

typedef boost::intrusive_ptr<VrmlTextureTransform> cnoid::VrmlTextureTransformPtr

typedef boost::intrusive_ptr<VrmlTransform> cnoid::VrmlTransformPtr

typedef boost::intrusive_ptr<VrmlUnsupportedNode> cnoid::VrmlUnsupportedNodePtr

typedef boost::variant<SFBool, SFInt32, SFFloat, SFVec2f, SFVec3f, SFRotation, SFColor, SFTime, SFString, SFNode, SFImage, MFInt32, MFFloat, MFVec2f, MFVec3f, MFRotation, MFColor, MFTime, MFString, MFNode> cnoid::VrmlVariantField

typedef boost::intrusive_ptr<VrmlViewpoint> cnoid::VrmlViewpointPtr

typedef boost::intrusive_ptr<VrmlWorldInfo> cnoid::VrmlWorldInfoPtr

typedef boost::intrusive_ptr<WorldItem> cnoid::WorldItemPtr

typedef boost::intrusive_ptr< YamlMapping > cnoid::YamlMappingPtr

typedef boost::intrusive_ptr<YamlNode> cnoid::YamlNodePtr

typedef boost::intrusive_ptr<YamlSequence> cnoid::YamlSequencePtr

列挙型詳解

anonymous enum

列挙値
LEFT
TOP
FRONT
BOTTOM
RIGHT
BACK

enum cnoid::VrmlFieldTypeId

列挙値
SFBOOL
SFINT32
SFFLOAT
SFVEC2F
SFVEC3F
SFROTATION
SFCOLOR
SFTIME
SFSTRING
SFNODE
SFIMAGE
MFINT32
MFFLOAT
MFVEC2F
MFVEC3F
MFROTATION
MFCOLOR
MFTIME
MFSTRING
MFNODE
UNKNOWN_VRML_FIELD_TYPE

enum cnoid::VrmlNodeCategory

列挙値
ANY_NODE
PROTO_DEF_NODE
PROTO_INSTANCE_NODE
TOP_NODE
BINDABLE_NODE
GROUPING_NODE
CHILD_NODE
APPEARANCE_NODE
MATERIAL_NODE
TEXTURE_NODE
TEXTURE_TRANSFORM_NODE
SHAPE_NODE
GEOMETRY_NODE
COORDINATE_NODE
COLOR_NODE
NORMAL_NODE
TEXTURE_COORDINATE_NODE
FONT_STYLE_NODE
SENSOR_NODE
INLINE_NODE
NUM_VRML_NODE_CATEGORIES

enum cnoid::YamlNodeType

列挙値
YAML_NONE
YAML_MAPPING
YAML_SEQUENCE
YAML_SCALAR
YAML_LF

enum cnoid::YamlStringStyle

列挙値
YAML_PLAIN_STRING
YAML_SINGLE_QUOTED
YAML_DOUBLE_QUOTED
YAML_LITERAL
YAML_FOLDED

関数詳解

void cnoid::applyGaussianFilter	(	MultiValueSeq &	seq,
		double	sigma,
		int	range,
		std::ostream &	os = `nullout()`
	)

template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >

void cnoid::applyGaussianFilter	(	RESULTVECTOR &	result,
		const SRCVECTOR &	src,
		std::vector< T > &	gwin,
		ELEMENT	zero
	)

template<class RESULTVECTOR , class SRCVECTOR , class ELEMENT , class T >

void cnoid::applyGaussianFilter	(	RESULTVECTOR &	result,
		const SRCVECTOR &	src,
		T	sigma,
		int	range,
		ELEMENT	zero
	)

bool cnoid::applyPollardVelocityLimitFilter	(	MultiValueSeq &	seq,
		BodyPtr	body,
		double	ks,
		std::ostream &	os = `nullout()`
	)

void cnoid::applyRangeLimitFilter	(	MultiValueSeq &	seq,
		BodyPtr	body,
		double	limitGrad,
		double	edgeGradRatio,
		double	margin,
		std::ostream &	os = `nullout()`
	)

bool cnoid::applyVelocityLimitFilter	(	MultiValueSeq &	seq,
		BodyPtr	body,
		std::ostream &	os = `nullout()`
	)

bool cnoid::applyVelocityLimitFilter2	(	MultiValueSeq &	seq,
		int	part,
		double	absLimit
	)

bool cnoid::applyVelocityLimitFilterDummy ( )

CNOID_EXPORT void cnoid::calcCmJacobian	(	const BodyPtr &	body,
		Link *	base,
		Eigen::MatrixXd &	J
	)

void cnoid::calcCMJacobian	(	const BodyPtr &	body,
		Link *	base,
		Eigen::MatrixXd &	J
	)

compute CoM Jacobian

引数

base	link fixed to the environment
J	CoM Jacobian

覚え書き: Link::wc must be computed by calcCM() before calling

CNOID_EXPORT void cnoid::calcInverseDynamics	(	const BodyPtr &	body,
		Link *	ptr,
		Vector3 &	out_f,
		Vector3 &	out_tau
	)

void cnoid::calcLinkAccSeq	(	MultiAffine3Seq &	linkPosSeq,
		Sensor *	gsens,
		int	frameBegin,
		int	numFrames,
		Vector3Seq &	out_accSeq
	)

CNOID_EXPORT void cnoid::calcMassMatrix	(	const BodyPtr &	body,
		MatrixXd &	out_M
	)

void cnoid::calcMassMatrix	(	const BodyPtr &	body,
		Eigen::MatrixXd &	out_M
	)

calculate the mass matrix using the unit vector method

todo:: replace the unit vector method here with a more efficient method

The motion equation (dv != dvo) | | | dv | | | | fext | | out_M | * | dw | + | b1 | = | tauext | | | |ddq | | | | u |

double cnoid::degree ( double rad )

inline

template<class VrmlNodeType >

boost::intrusive_ptr<VrmlNodeType> cnoid::dynamic_node_cast ( VrmlNodePtr node )

inline

The upper cast operation that supports the situation where the original pointer is VrmlProtoInstance and you want to get the actual node, the node replaced with the pre-defined node type written in the PROTO definition.

BodyCustomizerInterface * cnoid::findBodyCustomizer ( std::string modelName )

CNOID_EXPORT bool cnoid::findRelativePath	(	const boost::filesystem::path &	from,
		const boost::filesystem::path &	to,
		boost::filesystem::path &	out_relativePath
	)

bool cnoid::findRelativePath	(	const filesystem::path &	from_,
		const filesystem::path &	to,
		filesystem::path &	out_relativePath
	)

CNOID_EXPORT bool cnoid::findSubDirectory	(	const boost::filesystem::path &	directory,
		const boost::filesystem::path &	path,
		boost::filesystem::path &	out_subdirectory
	)

bool cnoid::findSubDirectory	(	const filesystem::path &	directory,
		const filesystem::path &	path,
		filesystem::path &	out_subdirectory
	)

const std::string& cnoid::fromUtf8 ( const std::string & text )

inline

const std::string cnoid::fromUtf8 ( const char * text )

inline

HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var cnoid::getOnlineViewer	(	int	argc,
		char **	argv
	)

HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var cnoid::getOnlineViewer ( CORBA_ORB_var orb )

Matrix3 cnoid::hat ( const Vector3 & x )

inline

void cnoid::initializeBodyItem ( ExtensionManager & ext )

void cnoid::initializeBodyMotionEngine ( ExtensionManager & em )

void cnoid::initializeBodyMotionItem ( ExtensionManager & ext )

void cnoid::initializeDynamicsSimulatorItem ( ExtensionManager & ext )

void cnoid::initializeFilterDialogs ( ExtensionManager & ext )

void cnoid::initializeKinematicsSimulatorItem ( ExtensionManager & ext )

void cnoid::initializeWorldItem ( ExtensionManager & ext )

void cnoid::intrusive_ptr_add_ref ( cnoid::Referenced * obj )

inline

void cnoid::intrusive_ptr_add_ref ( cnoid::YamlNode * obj )

inline

void cnoid::intrusive_ptr_add_ref ( VrmlNode * obj )

inline

void cnoid::intrusive_ptr_release ( cnoid::Referenced * obj )

inline

void cnoid::intrusive_ptr_release ( cnoid::YamlNode * obj )

inline

void cnoid::intrusive_ptr_release ( VrmlNode * obj )

inline

template<typename TValue >

const char* cnoid::labelOfVrmlFieldType ( )

inline

const char * cnoid::labelOfVrmlFieldTypeId ( int type )

int cnoid::loadBodyCustomizers	(	const std::string	pathString,
		BodyInterface *	bodyInterface
	)

DLLs of body customizer in the path are loaded and they are registered to the customizer repository.

The loaded customizers can be obtained by using findBodyCustomizer() function.

引数

pathString the path to a DLL file or a directory that contains DLLs

int cnoid::loadBodyCustomizers ( const std::string pathString )

int cnoid::loadBodyCustomizers ( BodyInterface * bodyInterface )

The function loads the customizers in the directories specified by the environmental variable CNOID_CUSTOMIZER_PATH

int cnoid::loadBodyCustomizers ( )

bool cnoid::loadHrpsysSeqFileSet	(	BodyMotion &	motion,
		const std::string &	filename,
		std::ostream &	os
	)

CNOID_EXPORT void cnoid::makePathCompact	(	const boost::filesystem::path &	path,
		boost::filesystem::path &	out_compact
	)

void cnoid::makePathCompact	(	const filesystem::path &	path,
		filesystem::path &	out_compact
	)

void cnoid::msleep ( int msec )

inline

CNOID_EXPORT std::ostream & cnoid::nullout ( )

CNOID_EXPORT Vector3 cnoid::omegaFromRot ( const Matrix3 & R )

CNOID_EXPORT BodyMotion::Frame & cnoid::operator<<	(	const BodyMotion::Frame &	frame,
		const Body &	body
	)

CNOID_EXPORT BodyMotion::Frame & cnoid::operator>>	(	const BodyMotion::Frame &	frame,
		const Body &	body
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		double &	value
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		int &	value
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		const char *	matchString
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		char	matchChar
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		std::string &	str
	)

CNOID_EXPORT EasyScanner& cnoid::operator>>	(	EasyScanner &	scanner,
		EasyScanner::Endl	endl
	)

double cnoid::radian ( double deg )

inline

template<typename Derived >

bool cnoid::read	(	const YamlMapping &	mapping,
		const std::string &	key,
		Eigen::MatrixBase< Derived > &	x
	)

template<typename Derived >

void cnoid::readEx	(	const YamlMapping &	mapping,
		const std::string &	key,
		Eigen::MatrixBase< Derived > &	x
	)

inline

CNOID_EXPORT Matrix3 cnoid::rotFromRpy	(	double	r,
		double	p,
		double	y
	)

Matrix3 cnoid::rotFromRpy ( const Vector3 & rpy )

inline

template<typename Derived >

Eigen::Matrix<typename Eigen::MatrixBase<Derived>::Scalar, 3, 1> cnoid::rpyFromRot ( const Eigen::MatrixBase< Derived > & R )

inline

bool cnoid::saveHrpsysSeqFileSet	(	BodyMotion &	motion,
		BodyPtr	body,
		const std::string &	filename,
		std::ostream &	os
	)

template<class T >

void cnoid::setGaussWindow	(	T	sigma,
		int	range,
		std::vector< T > &	out_window
	)

const std::string& cnoid::toActualPathName ( const std::string & pathName )

inline

const std::string& cnoid::toUtf8 ( const std::string & text )

inline

const std::string cnoid::toUtf8 ( const char * text )

inline

void cnoid::usleep ( int usec )

inline

template<typename TValue >

int cnoid::vrmlFieldTypeId ( )

template<>

int cnoid::vrmlFieldTypeId< MFColor > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFFloat > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFInt32 > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFNode > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFRotation > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFString > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFTime > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< MFVec3f > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFColor > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFFloat > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFImage > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFInt32 > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFNode > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFRotation > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFString > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFTime > ( )

inline

template<>

int cnoid::vrmlFieldTypeId< SFVec3f > ( )

inline

template<typename Derived >

YamlSequence& cnoid::write	(	YamlMapping &	mapping,
		const std::string &	key,
		const Eigen::MatrixBase< Derived > &	x
	)

変数詳解

const double cnoid::PI = 3.14159265358979323846

const double cnoid::PI_2 = 1.57079632679489661923

クラス

型定義

列挙型

関数

変数

詳解

型定義詳解

列挙型詳解

関数詳解

変数詳解