cnoid::Body クラス

#include <Body.h>

cnoid::Body の継承関係図

クラス
struct	LinkConnection

公開型
typedef std::vector< LinkConnection >	LinkConnectionArray

公開メンバ関数
	Body ()
virtual	~Body ()
virtual BodyPtr	duplicate () const
const std::string &	name ()
void	setName (const std::string &name)
const std::string &	modelName ()
void	setModelName (const std::string &name)
void	setRootLink (Link *link)
void	updateLinkTree ()
int	numJoints () const
Link *	joint (int id) const
const std::vector< Link * > &	joints () const
int	numLinks () const
Link *	link (int index) const
const LinkTraverse &	links () const
const LinkTraverse &	linkTraverse () const
Link *	link (const std::string &name) const
Link *	rootLink () const
Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)
void	addSensor (Sensor *sensor, int sensorType, int id)
Sensor *	sensor (int sensorType, int sensorId) const
int	numSensors (int sensorType) const
int	numSensorTypes () const
void	clearSensorValues ()
template<class TSensor >
TSensor *	sensor (int id) const
template<class TSensor >
TSensor *	sensor (const std::string &name) const
bool	isStaticModel ()
double	calcTotalMass ()
double	totalMass () const
Vector3	calcCM ()
const Vector3 &	lastCM ()
void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)
void	setDefaultRootPosition (const Vector3 &p, const Matrix3 &R)
void	getDefaultRootPosition (Vector3 &out_p, Matrix3 &out_R)
void	initializeConfiguration ()
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void	clearExternalForces ()
JointPathPtr	getJointPath (Link *baseLink, Link *targetLink)
void	setVirtualJointForces ()
virtual InverseKinematicsPtr	getDefaultIK (Link *targetLink)
void	updateLinkColdetModelPositions ()
void	putInformation (std::ostream &out)
bool	installCustomizer ()
bool	installCustomizer (BodyCustomizerInterface *customizerInterface)
YamlMapping *	info ()
void	resetInfo (YamlMappingPtr info)
LinkGroup *	linkGroup ()
基底クラス cnoid::Referenced に属する継承公開メンバ関数
	Referenced ()
virtual	~Referenced ()

静的公開メンバ関数
static void	addCustomizerDirectory (const std::string &path)
static BodyInterface *	bodyInterface ()

公開変数類
LinkConnectionArray	linkConnections

限定公開メンバ関数
	Body (const Body &org)
virtual void	doResetInfo (const YamlMapping &info)
基底クラス cnoid::Referenced に属する継承限定公開メンバ関数
int	refCounter ()

フレンド
class	CustomizedJointPath

型定義メンバ詳解

typedef std::vector<LinkConnection> cnoid::Body::LinkConnectionArray

構築子と解体子

Body::Body

(

)

Body::~Body ( )

virtual

Body::Body ( const Body &  org )

protected

関数詳解

void Body::addCustomizerDirectory ( const std::string &  path )

static

void Body::addSensor	(	Sensor *	sensor,
		int	sensorType,
		int	id
	)

BodyInterface * Body::bodyInterface ( )

static

Vector3 Body::calcCM

(

)

void Body::calcForwardKinematics	(	bool	calcVelocity = false,
		bool	calcAcceleration = false
	)

double Body::calcTotalMass

(

)

void Body::calcTotalMomentum	(	Vector3 &	out_P,
		Vector3 &	out_L
	)

assuming Link::v,w is already computed by calcForwardKinematics(true); assuming Link::wc is already computed by calcCM();

void Body::clearExternalForces

(

)

void Body::clearSensorValues

(

)

Sensor * Body::createSensor	(	Link *	link,
		int	sensorType,
		int	id,
		const std::string &	name
	)

void Body::doResetInfo ( const YamlMapping &  info )

protectedvirtual

cnoid::LeggedBodyで再実装されています。

BodyPtr Body::duplicate ( ) const

virtual

cnoid::LeggedBodyで再実装されています。

InverseKinematicsPtr Body::getDefaultIK ( Link *  targetLink )

virtual

void Body::getDefaultRootPosition	(	Vector3 &	out_p,
		Matrix3 &	out_R
	)

JointPathPtr Body::getJointPath	(	Link *	baseLink,
		Link *	targetLink
	)

YamlMapping* cnoid::Body::info ( )

inline

void Body::initializeConfiguration

(

)

bool Body::installCustomizer

(

)

The function installs the pre-loaded customizer corresponding to the model name.

bool Body::installCustomizer

(

BodyCustomizerInterface *

customizerInterface

)

bool cnoid::Body::isStaticModel ( )

inline

This function returns true when the whole body is a static, fixed object like a floor.

Link* cnoid::Body::joint ( int  id ) const

inline

This function returns a link that has a given joint ID. If there is no link that has a given joint ID, the function returns a dummy link object whose ID is minus one. The maximum id can be obtained by numJoints().

const std::vector<Link*>& cnoid::Body::joints ( ) const

inline

The vector<Link*> corresponding to the sequence of joint().

const Vector3& cnoid::Body::lastCM ( )

inline

Link* cnoid::Body::link ( int  index ) const

inline

This function returns the link of a given index in the whole link sequence. The order of the sequence corresponds to a link-tree traverse from the root link. The size of the sequence can be obtained by numLinks().

Link * Body::link

(

const std::string &

name

)

const

This function returns a link that has a given name.

This function returns a link object whose name of Joint node matches a given name. Null is returned when the body has no joint of the given name.

LinkGroup* cnoid::Body::linkGroup ( )

inline

const LinkTraverse& cnoid::Body::links ( ) const

inline

const LinkTraverse& cnoid::Body::linkTraverse ( ) const

inline

LinkTraverse object that traverses all the links from the root link

const std::string& cnoid::Body::modelName ( )

inline

const std::string& cnoid::Body::name ( )

inline

int cnoid::Body::numJoints ( ) const

inline

The number of the links that work as a joint. Note that the acutal value is the maximum joint ID plus one. Thus there may be a case where the value does not correspond to the actual number of the joint-links. In other words, the value represents the size of the link sequence obtained by joint() function.

int cnoid::Body::numLinks ( ) const

inline

The number of all the links the body has. The value corresponds to the size of the sequence obtained by link() function.

int cnoid::Body::numSensors ( int  sensorType ) const

inline

int cnoid::Body::numSensorTypes ( ) const

inline

void Body::putInformation

(

std::ostream &

out

)

void Body::resetInfo

(

YamlMappingPtr

info

)

Link* cnoid::Body::rootLink ( ) const

inline

The root link of the body

Sensor* cnoid::Body::sensor ( int  sensorType, int  sensorId  ) const

inline

template<class TSensor >

TSensor* cnoid::Body::sensor ( int  id ) const

inline

template<class TSensor >

TSensor* cnoid::Body::sensor ( const std::string &  name ) const

inline

void Body::setDefaultRootPosition	(	const Vector3 &	p,
		const Matrix3 &	R
	)

void cnoid::Body::setModelName ( const std::string &  name )

inline

void cnoid::Body::setName ( const std::string &  name )

inline

void Body::setRootLink

(

Link *

link

)

void Body::setVirtualJointForces

(

)

double cnoid::Body::totalMass ( ) const

inline

void Body::updateLinkColdetModelPositions

(

)

This function must be called before the collision detection. It updates the positions and orientations of the models for detecting collisions between links.

void Body::updateLinkTree

(

)

This function must be called when the structure of the link tree is changed.

フレンドと関連関数の詳解

friend class CustomizedJointPath

friend

メンバ詳解

LinkConnectionArray cnoid::Body::linkConnections

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このクラス詳解は次のファイルから抽出されました:

• Body.h
• Body.cpp
• BodyCustomizerInterface.cpp