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Blender V2.61 - r43446
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Blender V2.61 - r43446
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#include "ControlledObject.hpp"#include "ConstraintSet.hpp"#include "kdl/treejnttojacsolver.hpp"#include "kdl/treefksolverpos_recursive.hpp"#include <vector>Go to the source code of this file.
Classes | |
| struct | iTaSC::Effector_struct |
| struct | iTaSC::JointConstraint_struct |
| struct | iTaSC::Joint_struct |
Namespaces | |
| namespace | iTaSC |
Typedefs | |
| typedef std::vector < Effector_struct > | iTaSC::EffectorList |
| typedef std::vector < JointConstraint_struct * > | iTaSC::JointConstraintList |
| typedef std::vector< Joint_struct > | iTaSC::JointList |
Enumerations | |
| enum | iTaSC::ID { iTaSC::ID_JOINT = 1, iTaSC::ID_JOINT_RX = 2, iTaSC::ID_JOINT_RY = 3, iTaSC::ID_JOINT_RZ = 4, iTaSC::ID_JOINT_TX = 2, iTaSC::ID_JOINT_TY = 3, iTaSC::ID_JOINT_TZ = 4 } |
Functions | |
| virtual | iTaSC::~Armature () |
| bool | iTaSC::addSegment (const std::string &segment_name, const std::string &hook_name, const Joint &joint, const double &q_rest, const Frame &f_tip=F_identity, const Inertia &M=Inertia::Zero()) |
| int | iTaSC::addConstraint (const std::string &segment_name, ConstraintCallback _function, void *_param=NULL, bool _freeParam=false, bool _substep=false) |
| int | iTaSC::addLimitConstraint (const std::string &segment_name, unsigned int dof, double _min, double _max) |
| double | iTaSC::getMaxJointChange () |
| double | iTaSC::getMaxEndEffectorChange () |
| bool | iTaSC::getSegment (const std::string &segment_name, const unsigned int q_size, const Joint *&p_joint, double &q_rest, double &q, const Frame *&p_tip) |
| bool | iTaSC::getRelativeFrame (Frame &result, const std::string &segment_name, const std::string &base_name=m_root) |
| virtual void | iTaSC::finalize () |
| virtual int | iTaSC::addEndEffector (const std::string &name) |
| virtual const Frame & | iTaSC::getPose (const unsigned int end_effector) |
| virtual bool | iTaSC::updateJoint (const Timestamp ×tamp, JointLockCallback &callback) |
| virtual void | iTaSC::updateKinematics (const Timestamp ×tamp) |
| virtual void | iTaSC::pushCache (const Timestamp ×tamp) |
| virtual void | iTaSC::updateControlOutput (const Timestamp ×tamp) |
| virtual bool | iTaSC::setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0) |
| virtual void | iTaSC::initCache (Cache *_cache) |
| virtual bool | iTaSC::setJointArray (const KDL::JntArray &joints) |
| virtual const KDL::JntArray & | iTaSC::getJointArray () |
| virtual double | iTaSC::getArmLength () |
| virtual void | iTaSC::updateJacobian () |
Variables | |
| static std::string | iTaSC::m_root |
| Tree | iTaSC::m_tree |
| unsigned int | iTaSC::m_njoint |
| unsigned int | iTaSC::m_nconstraint |
| unsigned int | iTaSC::m_noutput |
| unsigned int | iTaSC::m_neffector |
| bool | iTaSC::m_finalized |
| Cache * | iTaSC::m_cache |
| double * | iTaSC::m_buf |
| int | iTaSC::m_qCCh |
| CacheTS | iTaSC::m_qCTs |
| int | iTaSC::m_yCCh |
| CacheTS | iTaSC::m_yCTs |
| JntArray | iTaSC::m_qKdl |
| JntArray | iTaSC::m_oldqKdl |
| JntArray | iTaSC::m_newqKdl |
| JntArray | iTaSC::m_qdotKdl |
| Jacobian * | iTaSC::m_jac |
| double | iTaSC::m_armlength |
| KDL::TreeJntToJacSolver * | iTaSC::m_jacsolver |
| KDL::TreeFkSolverPos_recursive * | iTaSC::m_fksolver |
| EffectorList | iTaSC::m_effectors |
| JointConstraintList | iTaSC::m_constraints |
| JointList | iTaSC::m_joints |