cnoid::BodyItem クラス

#include <BodyItem.h>

cnoid::BodyItem の継承関係図

クラス
struct	KinematicState

公開型
enum	PresetPoseID { INITIAL_POSE, STANDARD_POSE }
enum	PositionType {   CM_PROJECTION, HOME_COP, RIGHT_HOME_COP, LEFT_HOME_COP,   ZMP }

公開メンバ関数
	BodyItem ()
	BodyItem (const BodyItem &org)
virtual	~BodyItem ()
void	init ()
bool	loadModelFile (const std::string &filename)
virtual void	setName (const std::string &name)
Body *	body ()
ModelNodeSetPtr	modelNodeSet ()
const std::string &	errorMessage ()
void	moveToOrigin ()
void	setPresetPose (PresetPoseID id)
Link *	currentBaseLink () const
void	setCurrentBaseLink (Link *link)
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void	copyKinematicState ()
void	pasteKinematicState ()
void	storeKinematicState (KinematicState &state)
bool	restoreKinematicState (const KinematicState &state)
void	beginKinematicStateEdit ()
void	acceptKinematicStateEdit ()
bool	undoKinematicState ()
bool	redoKinematicState ()
PinDragIKptr	pinDragIK ()
InverseKinematicsPtr	getCurrentIK (Link *targetLink)
PenetrationBlockerPtr	createPenetrationBlocker (Link *link, bool excludeSelfCollisions=false)
SignalProxy< boost::signal< void()> >	sigKinematicStateChanged ()
void	notifyKinematicStateChange (bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
void	notifyKinematicStateChange (boost::signals::connection &connectionToBlock, bool requestFK=false, bool requestVelFK=false, bool requestAccFK=false)
SignalProxy< boost::signal< void()> >	sigKinematicStateEdited ()
WorldItem *	worldItem ()
void	updateColdetModelPositions (bool force=false)
void	enableSelfCollisionDetection (bool on)
bool	isSelfCollisionDetectionEnabled ()
bool	updateSelfCollisions (bool force=false)
void	clearSelfCollisions ()
SignalProxy< boost::signal< void()> >	sigSelfCollisionsUpdated ()
SignalProxy< boost::signal< void()> >	sigSelfCollisionLinkSetChanged ()
std::vector< ColdetLinkPairPtr > &	worldColdetPairsOfLink (int linkIndex)
const std::vector< ColdetLinkPairPtr > &	worldColdetPairsOfLink (int linkIndex) const
SignalProxy< boost::signal< void()> >	sigWorldCollisionsUpdated ()
SignalProxy< boost::signal< void()> >	sigWorldCollisionLinkSetChanged ()
void	notifyWorldCollisionLinkSetChange ()
void	notifyWorldCollisionUpdate ()
const Vector3 &	centerOfMass ()
bool	doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false)
const Vector3 &	zmp ()
void	setZmp (const Vector3 &zmp)
void	editZmp (const Vector3 &zmp)
boost::optional< Vector3 >	getParticularPosition (PositionType posType)
bool	setStance (double width)
const std::string	modelFilePath ()

公開変数類
std::vector< ColdetLinkPairPtr >	selfColdetPairs
boost::dynamic_bitset	selfCollisionLinkBitSet
boost::dynamic_bitset	worldCollisionLinkBitSet

限定公開メンバ関数
virtual ItemPtr	doDuplicate () const
virtual void	doPutProperties (PutPropertyFunction &putProperty)
virtual bool	store (Archive &archive)
virtual bool	restore (const Archive &archive)

列挙型メンバ詳解

enum cnoid::BodyItem::PositionType

列挙値
CM_PROJECTION
HOME_COP
RIGHT_HOME_COP
LEFT_HOME_COP
ZMP

enum cnoid::BodyItem::PresetPoseID

列挙値
INITIAL_POSE
STANDARD_POSE

構築子と解体子

BodyItem::BodyItem

(

)

BodyItem::BodyItem

(

const BodyItem &

org

)

BodyItem::~BodyItem ( )

virtual

関数詳解

void BodyItem::acceptKinematicStateEdit

(

)

void BodyItem::beginKinematicStateEdit

(

)

Body* cnoid::BodyItem::body ( )

inline

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

Forward kinematics from the current base link is done.

const Vector3 & BodyItem::centerOfMass

(

)

void BodyItem::clearSelfCollisions

(

)

void BodyItem::copyKinematicState

(

)

PenetrationBlockerPtr BodyItem::createPenetrationBlocker	(	Link *	link,
		bool	excludeSelfCollisions = false
	)

Link* cnoid::BodyItem::currentBaseLink ( ) const

inline

ItemPtr BodyItem::doDuplicate ( ) const

protectedvirtual

bool BodyItem::doLegIkToMoveCm	(	const Vector3 &	c,
		bool	onlyProjectionToFloor = false
	)

todo:

use getDefaultIK() if the kinematics bar is in the AUTO mode.

void BodyItem::doPutProperties ( PutPropertyFunction &  putProperty )

protectedvirtual

void BodyItem::editZmp

(

const Vector3 &

zmp

)

void BodyItem::enableSelfCollisionDetection

(

bool

on

)

const std::string& cnoid::BodyItem::errorMessage ( )

inline

InverseKinematicsPtr BodyItem::getCurrentIK

(

Link *

targetLink

)

boost::optional< Vector3 > BodyItem::getParticularPosition

(

PositionType

posType

)

void BodyItem::init

(

)

bool cnoid::BodyItem::isSelfCollisionDetectionEnabled ( )

inline

bool BodyItem::loadModelFile

(

const std::string &

filename

)

const std::string cnoid::BodyItem::modelFilePath ( )

inline

ModelNodeSetPtr cnoid::BodyItem::modelNodeSet ( )

inline

void BodyItem::moveToOrigin

(

)

void BodyItem::notifyKinematicStateChange	(	bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

void BodyItem::notifyKinematicStateChange	(	boost::signals::connection &	connectionToBlock,
		bool	requestFK = false,
		bool	requestVelFK = false,
		bool	requestAccFK = false
	)

void cnoid::BodyItem::notifyWorldCollisionLinkSetChange ( )

inline

void cnoid::BodyItem::notifyWorldCollisionUpdate ( )

inline

void BodyItem::pasteKinematicState

(

)

PinDragIKptr BodyItem::pinDragIK

(

)

bool BodyItem::redoKinematicState

(

)

bool BodyItem::restore ( const Archive &  archive )

protectedvirtual

bool BodyItem::restoreKinematicState

(

const KinematicState &

state

)

戻り値

false if the restored state is same as the current state

void BodyItem::setCurrentBaseLink

(

Link *

link

)

void BodyItem::setName ( const std::string &  name )

virtual

void BodyItem::setPresetPose

(

PresetPoseID

id

)

bool BodyItem::setStance

(

double

width

)

void cnoid::BodyItem::setZmp ( const Vector3 &  zmp )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigKinematicStateChanged ( )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigKinematicStateEdited ( )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigSelfCollisionLinkSetChanged ( )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigSelfCollisionsUpdated ( )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigWorldCollisionLinkSetChanged ( )

inline

SignalProxy< boost::signal<void()> > cnoid::BodyItem::sigWorldCollisionsUpdated ( )

inline

bool BodyItem::store ( Archive &  archive )

protectedvirtual

void BodyItem::storeKinematicState

(

KinematicState &

state

)

bool BodyItem::undoKinematicState

(

)

void BodyItem::updateColdetModelPositions

(

bool

force = false

)

bool BodyItem::updateSelfCollisions

(

bool

force = false

)

true if a colliding link set changes

std::vector<ColdetLinkPairPtr>& cnoid::BodyItem::worldColdetPairsOfLink ( int  linkIndex )

inline

const std::vector<ColdetLinkPairPtr>& cnoid::BodyItem::worldColdetPairsOfLink ( int  linkIndex ) const

inline

WorldItem* cnoid::BodyItem::worldItem ( )

inline

WorldItem that contains this body item if exists.

const Vector3& cnoid::BodyItem::zmp ( )

inline

メンバ詳解

std::vector<ColdetLinkPairPtr> cnoid::BodyItem::selfColdetPairs

boost::dynamic_bitset cnoid::BodyItem::selfCollisionLinkBitSet

boost::dynamic_bitset cnoid::BodyItem::worldCollisionLinkBitSet

---

このクラス詳解は次のファイルから抽出されました:

• BodyItem.h
• BodyItem.cpp