#include <PinDragIK.h>

cnoid::PinDragIK の継承関係図

公開メンバ関数
	PinDragIK (BodyPtr body)

	~PinDragIK ()

BodyPtr	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, InverseKinematics::AxisSet axes=InverseKinematics::TRANSLATION_3D, double weight=1.0)

InverseKinematics::AxisSet	pinAxes (Link *link)

void	clearPins ()

int	numPinnedLinks ()

virtual void	setIKErrorThresh (double e)

virtual bool	hasAnalyticalIK ()

virtual InverseKinematics::AxisSet	targetAxes () const

void	setSRInverseParameters (double k0, double w0)

void	enableJointRangeConstraints (bool on)

bool	initialize ()

virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)

基底クラス cnoid::InverseKinematics に属する継承公開メンバ関数
virtual	~InverseKinematics ()

virtual AxisSet	axisType () const

その他の継承メンバ
基底クラス cnoid::InverseKinematics に属する継承公開型
enum	AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

構築子と解体子

PinDragIK::PinDragIK ( BodyPtr body )

PinDragIK::~PinDragIK ( )

関数詳解

BodyPtr PinDragIK::body ( ) const

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

virtual

cnoid::InverseKinematicsを実装しています。

void PinDragIK::clearPins ( )

void PinDragIK::enableJointRangeConstraints ( bool on )

bool PinDragIK::hasAnalyticalIK ( )

virtual

bool PinDragIK::initialize ( void )

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

int PinDragIK::numPinnedLinks ( )

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

void PinDragIK::setBaseLink ( Link * baseLink )

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

void PinDragIK::setIKErrorThresh ( double e )

virtual

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

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

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

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

InverseKinematics::AxisSet PinDragIK::targetAxes ( ) const

virtual

このクラス詳解は次のファイルから抽出されました: