a class containing all the arm information so that it can be used by the Reaching class This is a virtual class, instanciated by KChainBodySchema More...
#include <BodySchema.h>
Public Member Functions | |
| virtual void | SetArmLength (float nl1, float nl2) |
| virtual float | GetUpperArmLength () |
| virtual float | GetForeArmLength () |
| virtual void | Angle2Cart (pArmConfig_t config, CVector3_t out) |
| virtual void | Angle2Cart (CVector4_t angle, CVector3_t out) |
| virtual void | ElbowPosition (CVector4_t angle, CVector3_t out) |
| virtual void | VirtualTarget (CVector3_t tar, CVector3_t out) |
| virtual int | InvKinematics (CVector3_t relTar, float alpha, float tol, CVector4_t out) |
| void | RawInverseKinematics (CVector3_t relTar, float alpha, CVector4_t out) |
| int | CheckInverseKinematics (CVector4_t angles, CVector3_t target, float tol) |
| virtual void | Jacobian (CVector4_t v, CMatrix4_t jac) |
| virtual void | IntermediateJacobian (int link, float len, CVector4_t v, CMatrix4_t jac) |
| virtual int | AcceptablePosition (CVector4_t angle) |
| virtual void | RandomAnglePos (CVector4_t angle) |
| virtual void | RandomCartPos (CVector3_t cart) |
| virtual void | SetAnglesInRange (CVector4_t angle) |
| virtual int | AnglesInRange (CVector4_t angle) |
| virtual void | GetAnglesLowerBound (CVector4_t lb) |
| virtual void | GetAnglesUpperBound (CVector4_t ub) |
| virtual void | Load (char *filename) |
| virtual float | UpdateTransfo () |
| virtual float | UpdateTransfo (CVector4_t proprio, CVector3_t vision) |
| virtual float | UpdateCalibTransfo () |
| virtual void | SetVisualPos (CVector3_t vision) |
| virtual void | SetProprioceptivePos (CVector4_t propri) |
| virtual int | GetVisualMode () |
| virtual void | ShowTransformation () |
| void | SetIkTrials (int n) |
| virtual int | GetNbJoints () |
| virtual void | Angle2Cart (joint_vec_t &angle, cart_vec_t &out) |
| virtual void | Angle2Cart (cart_vec_t &out) |
| virtual void | Jacobian (Matrix &jac) |
| virtual void | FullJacobian (Matrix &jac) |
| full jacobian for position and orientation | |
| virtual void | Jacobian (joint_vec_t &v, Matrix &jac) |
| virtual void | Print (ostream &out) const |
| virtual void | Load (istream &in) |
| virtual void | Load (const char *filename) |
| virtual void | GetAngles (joint_vec_t &angles) |
| virtual void | GetRandomAngle (joint_vec_t &angles) |
| virtual void | SetRandomAngle (joint_vec_t &angles) |
| virtual int | InverseKinematics (const cart_vec_t &pos, joint_vec_t &angles) |
| virtual int | InverseKinematics (const cart_vec_t &pos, joint_vec_t &start_angle, joint_vec_t &angles) |
| virtual void | GetWeights (cart_vec_t &cart_weights, joint_vec_t &joint_weights) |
| virtual void | SetAnglesInRange (joint_vec_t &angle) |
| float | AngleInClosestRange (int i, float cand) |
| param angle assumed to be in [-pi pi] | |
| virtual void | UpdateDimension () |
| virtual int | AnglesInRange (joint_vec_t &angles) |
| virtual void | SetPosition (joint_vec_t &angles) |
| virtual void | GetAnglesLowerBound (joint_vec_t &lb) |
| virtual void | GetAnglesUpperBound (joint_vec_t &ub) |
| virtual void | SetAnglesLowerBound (joint_vec_t &lb) |
| virtual void | SetAnglesUpperBound (joint_vec_t &ub) |
| void | SetAngleBounds (joint_vec_t &lb, joint_vec_t &ub) |
| virtual joint_vec_t & | GetAnglesLowerBound () |
| virtual joint_vec_t & | GetAnglesUpperBound () |
| virtual float | CartesianDistance (cart_vec_t &p1, cart_vec_t &p2) |
| virtual float * | Serialize (float *data, int offset) |
| serializes a kinematic chain into a float array | |
| virtual int | Deserialize (const float *data, int offset) |
| reads a kinematic chain from a float array | |
| virtual int | Deserialize (const float *data, int from, int to) |
| reads a kinematic chain from a float array | |
Protected Attributes | |
| float | l1 |
| float | l2 |
| CVector4_t | min_angle |
| joint angle lower limits | |
| CVector4_t | max_angle |
| joint angle upper limits | |
| joint_vec_t | min_angle |
| joint angle lower limits | |
| joint_vec_t | max_angle |
| joint angle upper limits | |
| int | ik_trials |
a class containing all the arm information so that it can be used by the Reaching class This is a virtual class, instanciated by KChainBodySchema
Definition at line 35 of file BodySchema.h.
| virtual int BodySchema::Deserialize | ( | const float * | data, | |
| int | from, | |||
| int | to | |||
| ) | [inline, virtual] |
reads a kinematic chain from a float array
| from | where to start reading in the data | |
| to | where to finish reading in the data |
Definition at line 141 of file BodySchema.h.
{return 0;};
| virtual int BodySchema::Deserialize | ( | const float * | data, | |
| int | offset | |||
| ) | [inline, virtual] |
reads a kinematic chain from a float array
| offset | joint with which to start (for partial kinematic chain updating) |
Definition at line 134 of file BodySchema.h.
{return 0;};
| virtual float* BodySchema::Serialize | ( | float * | data, | |
| int | offset | |||
| ) | [inline, virtual] |
serializes a kinematic chain into a float array
| offset | joint with which to start (for partial kinematic chain serialization) |
Definition at line 128 of file BodySchema.h.
{return NULL;};
1.7.1