cnoid::CompositeIK Class Reference

#include <CompositeIK.h>

Inheritance diagram for cnoid::CompositeIK:

Public Member Functions
	CompositeIK ()
	CompositeIK (Body *body, Link *targetLink)
	~CompositeIK ()
void	reset (Body *body, Link *targetLink)
bool	addBaseLink (Link *link)
void	setMaxIKerror (double e)
Body *	body () const
Link *	targetLink () const
int	numJointPaths () const
JointPathPtr	jointPath (int index) const
Link *	baseLink (int index) const
virtual bool	hasAnalyticalIK () const
virtual bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()
virtual AxisSet	axisType () const

Additional Inherited Members
Public Types inherited from cnoid::InverseKinematics
enum	AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

Constructor & Destructor Documentation

CompositeIK() [1/2]

CompositeIK::CompositeIK

(

)

CompositeIK() [2/2]

CompositeIK::CompositeIK	(	Body *	body,
		Link *	targetLink
	)

~CompositeIK()

CompositeIK::~CompositeIK

(

)

Member Function Documentation

addBaseLink()

bool CompositeIK::addBaseLink

(

Link *

link

)

baseLink()

Link* cnoid::CompositeIK::baseLink ( int  index ) const

inline

body()

Body* cnoid::CompositeIK::body ( ) const

inline

calcInverseKinematics()

bool CompositeIK::calcInverseKinematics ( const Vector3 &  end_p, const Matrix3 &  end_R  )

virtual

Todo:

This should be "bool calcInverseKinematics(const Position& T) = 0

Implements cnoid::InverseKinematics.

hasAnalyticalIK()

bool CompositeIK::hasAnalyticalIK ( ) const

virtual

jointPath()

JointPathPtr cnoid::CompositeIK::jointPath ( int  index ) const

inline

numJointPaths()

int cnoid::CompositeIK::numJointPaths ( ) const

inline

reset()

void CompositeIK::reset	(	Body *	body,
		Link *	targetLink
	)

setMaxIKerror()

void CompositeIK::setMaxIKerror

(

double

e

)

targetLink()

Link* cnoid::CompositeIK::targetLink ( ) const

inline

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

• CompositeIK.h
• CompositeIK.cpp