Choreonoid  1.1
クラス | 型定義 | 列挙型 | 関数 | 変数
cnoid 名前空間

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
baselink fixed to the environment
JCoM 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
pathStringthe 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
構築:   doxygen 1.8.9.1