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

FeetPosture()

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

~FeetPosture()

VirtualRobot::FeetPosture::~FeetPosture ( )

virtualdefault

Member Function Documentation

getBaseNode()

RobotNodePtr VirtualRobot::FeetPosture::getBaseNode

(

)

getLeftLeg()

RobotNodeSetPtr VirtualRobot::FeetPosture::getLeftLeg

(

)

getLeftLegCol()

RobotNodeSetPtr VirtualRobot::FeetPosture::getLeftLegCol

(

)

getLeftTCP()

RobotNodePtr VirtualRobot::FeetPosture::getLeftTCP

(

)

getRightLeg()

RobotNodeSetPtr VirtualRobot::FeetPosture::getRightLeg

(

)

getRightLegCol()

RobotNodeSetPtr VirtualRobot::FeetPosture::getRightLegCol

(

)

getRightTCP()

RobotNodePtr VirtualRobot::FeetPosture::getRightTCP

(

)

getRNSLeft2RightFoot()

RobotNodeSetPtr VirtualRobot::FeetPosture::getRNSLeft2RightFoot

(

)

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

getRobot()

RobotPtr VirtualRobot::FeetPosture::getRobot

(

)

getTransformationLeftToRightFoot()

Eigen::Matrix4f VirtualRobot::FeetPosture::getTransformationLeftToRightFoot

(

)

icCurrentLegConfigCollisionFree()

bool VirtualRobot::FeetPosture::icCurrentLegConfigCollisionFree

(

)

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

print()

void VirtualRobot::FeetPosture::print

(

)

setCollisionCheck()

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.

setRNSLeft2RightFoot()

void VirtualRobot::FeetPosture::setRNSLeft2RightFoot

(

RobotNodeSetPtr

rns

)

Field Documentation

baseNode

RobotNodePtr VirtualRobot::FeetPosture::baseNode

protected

left2Right

RobotNodeSetPtr VirtualRobot::FeetPosture::left2Right

protected

leftLeg

RobotNodeSetPtr VirtualRobot::FeetPosture::leftLeg

protected

leftLegCol

RobotNodeSetPtr VirtualRobot::FeetPosture::leftLegCol

protected

leftTCP

RobotNodePtr VirtualRobot::FeetPosture::leftTCP

protected

rightLeg

RobotNodeSetPtr VirtualRobot::FeetPosture::rightLeg

protected

rightLegCol

RobotNodeSetPtr VirtualRobot::FeetPosture::rightLegCol

protected

rightTCP

RobotNodePtr VirtualRobot::FeetPosture::rightTCP

protected

transformationLeftToRightFoot

Eigen::Matrix4f VirtualRobot::FeetPosture::transformationLeftToRightFoot

protected