Simox  2.3.50
VirtualRobot::FeetPosture Class Reference
Inheritance diagram for VirtualRobot::FeetPosture:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW FeetPosture (RobotNodeSetPtr leftLeg, RobotNodeSetPtr rightLeg, Eigen::Matrix4f &transformationLeftToRightFoot, RobotNodePtr baseNode, RobotNodePtr leftTCP=RobotNodePtr(), RobotNodePtr rightTCP=RobotNodePtr(), RobotNodeSetPtr rnsLeft2RightFoot=RobotNodeSetPtr())
 
virtual ~FeetPosture ()
 
RobotNodeSetPtr getLeftLeg ()
 
RobotNodeSetPtr getRightLeg ()
 
RobotNodeSetPtr getLeftLegCol ()
 
RobotNodeSetPtr getRightLegCol ()
 
RobotNodePtr getLeftTCP ()
 
RobotNodePtr getRightTCP ()
 
RobotNodePtr getBaseNode ()
 
RobotPtr getRobot ()
 
Eigen::Matrix4f getTransformationLeftToRightFoot ()
 
void setCollisionCheck (RobotNodeSetPtr leftColModel, RobotNodeSetPtr rightColModel)
 Initially the rns of left and right leg are used as collision models. Here you can set other sets for collision detection. More...
 
bool icCurrentLegConfigCollisionFree ()
 The collision models are queried if there is a collision for the current config. More...
 
RobotNodeSetPtr getRNSLeft2RightFoot ()
 Optional: kinematic chain from left foot to waist to right foot (not supported by all kinematic structures) More...
 
void setRNSLeft2RightFoot (RobotNodeSetPtr rns)
 
void print ()
 

Protected Attributes

RobotNodeSetPtr leftLeg
 
RobotNodeSetPtr rightLeg
 
RobotNodeSetPtr leftLegCol
 
RobotNodeSetPtr rightLegCol
 
RobotNodeSetPtr left2Right
 
Eigen::Matrix4f transformationLeftToRightFoot
 
RobotNodePtr leftTCP
 
RobotNodePtr rightTCP
 
RobotNodePtr baseNode
 

Detailed Description

A feet posture comprises information about the robot and the corresponding RobotNodeSets The base node (eg the hip) The TCPs of both feet the Cartesian relation of both feet when applying the posture

Constructor & Destructor Documentation

VirtualRobot::FeetPosture::FeetPosture ( RobotNodeSetPtr  leftLeg,
RobotNodeSetPtr  rightLeg,
Eigen::Matrix4f &  transformationLeftToRightFoot,
RobotNodePtr  baseNode,
RobotNodePtr  leftTCP = RobotNodePtr(),
RobotNodePtr  rightTCP = RobotNodePtr(),
RobotNodeSetPtr  rnsLeft2RightFoot = RobotNodeSetPtr() 
)
VirtualRobot::FeetPosture::~FeetPosture ( )
virtual

Member Function Documentation

RobotNodePtr VirtualRobot::FeetPosture::getBaseNode ( )
RobotNodeSetPtr VirtualRobot::FeetPosture::getLeftLeg ( )
RobotNodeSetPtr VirtualRobot::FeetPosture::getLeftLegCol ( )
RobotNodePtr VirtualRobot::FeetPosture::getLeftTCP ( )
RobotNodeSetPtr VirtualRobot::FeetPosture::getRightLeg ( )
RobotNodeSetPtr VirtualRobot::FeetPosture::getRightLegCol ( )
RobotNodePtr VirtualRobot::FeetPosture::getRightTCP ( )
RobotNodeSetPtr VirtualRobot::FeetPosture::getRNSLeft2RightFoot ( )

Optional: kinematic chain from left foot to waist to right foot (not supported by all kinematic structures)

RobotPtr VirtualRobot::FeetPosture::getRobot ( )
Eigen::Matrix4f VirtualRobot::FeetPosture::getTransformationLeftToRightFoot ( )
bool VirtualRobot::FeetPosture::icCurrentLegConfigCollisionFree ( )

The collision models are queried if there is a collision for the current config.

void VirtualRobot::FeetPosture::print ( )
void VirtualRobot::FeetPosture::setCollisionCheck ( RobotNodeSetPtr  leftColModel,
RobotNodeSetPtr  rightColModel 
)

Initially the rns of left and right leg are used as collision models. Here you can set other sets for collision detection.

void VirtualRobot::FeetPosture::setRNSLeft2RightFoot ( RobotNodeSetPtr  rns)

Field Documentation

RobotNodePtr VirtualRobot::FeetPosture::baseNode
protected
RobotNodeSetPtr VirtualRobot::FeetPosture::left2Right
protected
RobotNodeSetPtr VirtualRobot::FeetPosture::leftLeg
protected
RobotNodeSetPtr VirtualRobot::FeetPosture::leftLegCol
protected
RobotNodePtr VirtualRobot::FeetPosture::leftTCP
protected
RobotNodeSetPtr VirtualRobot::FeetPosture::rightLeg
protected
RobotNodeSetPtr VirtualRobot::FeetPosture::rightLegCol
protected
RobotNodePtr VirtualRobot::FeetPosture::rightTCP
protected
Eigen::Matrix4f VirtualRobot::FeetPosture::transformationLeftToRightFoot
protected