dynamicsJRLJapan::Foot Class Reference

#include <jrl/dynamics/foot.hh>

Inheritance diagram for dynamicsJRLJapan::Foot:
Collaboration diagram for dynamicsJRLJapan::Foot:

Public Member Functions

 Foot ()
 Default constructor. More...
 
 Foot (const Foot &inFoot)
 
virtual ~Foot ()
 Destructor. More...
 
virtual CjrlJointassociatedAnkle () const
 
void setAssociatedAnkle (CjrlJoint *inAssociatedAnkle)
 
virtual void getSoleSize (double &outLength, double &outWidth) const
 Get size of the rectagular sole. More...
 
virtual void setSoleSize (const double &inLength, const double &inWidth)
 Set size of the rectagular sole. More...
 
virtual void getAnklePositionInLocalFrame (vector3d &outCoordinates) const
 Get position of the ankle in the foot local coordinate frame. More...
 
virtual void setAnklePositionInLocalFrame (const vector3d &inCoordinates)
 Set position of the ankle in the foot local coordinate frame. More...
 
- Public Member Functions inherited from CjrlFoot
virtual ~CjrlFoot ()
 

Detailed Description

This class represents a foot of a humanoid robot. It assumes some geometrical information available. They are described in more details in the original class jrlFoot.

Constructor & Destructor Documentation

◆ Foot() [1/2]

dynamicsJRLJapan::Foot::Foot ( )

Default constructor.

◆ Foot() [2/2]

dynamicsJRLJapan::Foot::Foot ( const Foot inFoot)

◆ ~Foot()

virtual dynamicsJRLJapan::Foot::~Foot ( )
virtual

Destructor.

Member Function Documentation

◆ associatedAnkle()

virtual CjrlJoint* dynamicsJRLJapan::Foot::associatedAnkle ( ) const
virtual

Returns associated ankle.

Implements CjrlFoot.

◆ getAnklePositionInLocalFrame()

virtual void dynamicsJRLJapan::Foot::getAnklePositionInLocalFrame ( vector3d outCoordinates) const
virtual

Get position of the ankle in the foot local coordinate frame.

Return values
outCoordinatescoordinates of the ankle joint center

Implements CjrlFoot.

◆ getSoleSize()

virtual void dynamicsJRLJapan::Foot::getSoleSize ( double &  outLength,
double &  outWidth 
) const
virtual

Get size of the rectagular sole.

Return values
outLengthlength of the sole (see Figure)
outWidthwidth of the sole (see Figure)

Implements CjrlFoot.

◆ setAnklePositionInLocalFrame()

virtual void dynamicsJRLJapan::Foot::setAnklePositionInLocalFrame ( const vector3d inCoordinates)
virtual

Set position of the ankle in the foot local coordinate frame.

Parameters
inCoordinatescoordinates of the ankle joint center

Implements CjrlFoot.

◆ setAssociatedAnkle()

void dynamicsJRLJapan::Foot::setAssociatedAnkle ( CjrlJoint inAssociatedAnkle)
virtual

Returns associated ankle.

Implements CjrlFoot.

◆ setSoleSize()

virtual void dynamicsJRLJapan::Foot::setSoleSize ( const double &  inLength,
const double &  inWidth 
)
virtual

Set size of the rectagular sole.

Parameters
inLengthlength of the sole (see Figure)
inWidthwidth of the sole (see Figure)

Implements CjrlFoot.