#include <Body.h>
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| Body () |
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virtual | ~Body () |
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virtual BodyPtr | duplicate () const |
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const std::string & | name () |
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void | setName (const std::string &name) |
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const std::string & | modelName () |
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void | setModelName (const std::string &name) |
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void | setRootLink (Link *link) |
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void | updateLinkTree () |
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int | numJoints () const |
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Link * | joint (int id) const |
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const std::vector< Link * > & | joints () const |
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int | numLinks () const |
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Link * | link (int index) const |
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const LinkTraverse & | links () const |
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const LinkTraverse & | linkTraverse () const |
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Link * | link (const std::string &name) const |
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Link * | rootLink () const |
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Sensor * | createSensor (Link *link, int sensorType, int id, const std::string &name) |
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void | addSensor (Sensor *sensor, int sensorType, int id) |
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Sensor * | sensor (int sensorType, int sensorId) const |
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int | numSensors (int sensorType) const |
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int | numSensorTypes () const |
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void | clearSensorValues () |
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template<class TSensor > |
TSensor * | sensor (int id) const |
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template<class TSensor > |
TSensor * | sensor (const std::string &name) const |
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bool | isStaticModel () |
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double | calcTotalMass () |
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double | totalMass () const |
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Vector3 | calcCM () |
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const Vector3 & | lastCM () |
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void | calcTotalMomentum (Vector3 &out_P, Vector3 &out_L) |
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void | setDefaultRootPosition (const Vector3 &p, const Matrix3 &R) |
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void | getDefaultRootPosition (Vector3 &out_p, Matrix3 &out_R) |
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void | initializeConfiguration () |
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void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) |
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void | clearExternalForces () |
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JointPathPtr | getJointPath (Link *baseLink, Link *targetLink) |
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void | setVirtualJointForces () |
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virtual InverseKinematicsPtr | getDefaultIK (Link *targetLink) |
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void | updateLinkColdetModelPositions () |
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void | putInformation (std::ostream &out) |
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bool | installCustomizer () |
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bool | installCustomizer (BodyCustomizerInterface *customizerInterface) |
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YamlMapping * | info () |
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void | resetInfo (YamlMappingPtr info) |
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LinkGroup * | linkGroup () |
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| Referenced () |
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virtual | ~Referenced () |
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Body::Body |
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const Body & |
org) | |
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protected |
void Body::addCustomizerDirectory |
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const std::string & |
path) | |
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static |
void Body::addSensor |
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Sensor * |
sensor, |
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int |
sensorType, |
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int |
id |
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) |
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void Body::calcForwardKinematics |
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bool |
calcVelocity = false , |
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bool |
calcAcceleration = false |
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) |
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double Body::calcTotalMass |
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assuming Link::v,w is already computed by calcForwardKinematics(true); assuming Link::wc is already computed by calcCM();
void Body::clearExternalForces |
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void Body::clearSensorValues |
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Sensor * Body::createSensor |
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Link * |
link, |
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int |
sensorType, |
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int |
id, |
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const std::string & |
name |
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) |
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void Body::getDefaultRootPosition |
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Vector3 & |
out_p, |
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Matrix3 & |
out_R |
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void Body::initializeConfiguration |
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bool Body::installCustomizer |
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The function installs the pre-loaded customizer corresponding to the model name.
bool cnoid::Body::isStaticModel |
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inline |
This function returns true when the whole body is a static, fixed object like a floor.
Link* cnoid::Body::joint |
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int |
id) | |
const |
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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 |
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const |
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inline |
The vector<Link*> corresponding to the sequence of joint().
const Vector3& cnoid::Body::lastCM |
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inline |
Link* cnoid::Body::link |
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int |
index) | |
const |
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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 |
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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.
LinkTraverse object that traverses all the links from the root link
const std::string& cnoid::Body::modelName |
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inline |
const std::string& cnoid::Body::name |
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inline |
int cnoid::Body::numJoints |
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const |
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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 |
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const |
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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 |
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int |
sensorType) | |
const |
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inline |
int cnoid::Body::numSensorTypes |
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const |
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inline |
void Body::putInformation |
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std::ostream & |
out) | |
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Link* cnoid::Body::rootLink |
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const |
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inline |
The root link of the body
Sensor* cnoid::Body::sensor |
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int |
sensorType, |
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int |
sensorId |
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inline |
template<class TSensor >
TSensor* cnoid::Body::sensor |
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int |
id) | |
const |
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inline |
template<class TSensor >
TSensor* cnoid::Body::sensor |
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const std::string & |
name) | |
const |
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inline |
void Body::setDefaultRootPosition |
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const Vector3 & |
p, |
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const Matrix3 & |
R |
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) |
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void cnoid::Body::setModelName |
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const std::string & |
name) | |
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inline |
void cnoid::Body::setName |
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const std::string & |
name) | |
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inline |
void Body::setRootLink |
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Link * |
link) | |
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void Body::setVirtualJointForces |
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double cnoid::Body::totalMass |
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const |
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inline |
void Body::updateLinkColdetModelPositions |
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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 |
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This function must be called when the structure of the link tree is changed.
friend class CustomizedJointPath |
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friend |
このクラスの説明は次のファイルから生成されました: