Choreonoid
1.1
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#include <PinDragIK.h>
Public メソッド | |
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) |
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virtual | ~InverseKinematics () |
virtual AxisSet | axisType () const |
Additional Inherited Members | |
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enum | AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 } |
PinDragIK::PinDragIK | ( | BodyPtr | body | ) |
PinDragIK::~PinDragIK | ( | ) |
BodyPtr PinDragIK::body | ( | ) | const |
cnoid::InverseKinematicsを実装しています。
void PinDragIK::clearPins | ( | ) |
void PinDragIK::enableJointRangeConstraints | ( | bool | on | ) |
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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 | ||
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virtual |
void PinDragIK::setJointWeight | ( | int | jointId, |
double | weight | ||
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void PinDragIK::setPin | ( | Link * | link, |
InverseKinematics::AxisSet | axes = InverseKinematics::TRANSLATION_3D , |
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double | weight = 1.0 |
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void PinDragIK::setSRInverseParameters | ( | double | k0, |
double | w0 | ||
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void PinDragIK::setTargetLink | ( | Link * | targetLink, |
bool | isAttitudeEnabled = false |
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virtual |