#include <jrl/dynamics/foot.hh>


Public Member Functions | |
| Foot () | |
| Default constructor. | |
| Foot (const Foot &inFoot) | |
| virtual | ~Foot () |
| Destructor. | |
| virtual CjrlJoint * | associatedAnkle () const |
| void | setAssociatedAnkle (CjrlJoint *inAssociatedAnkle) |
| virtual void | getSoleSize (double &outLength, double &outWidth) const |
| Get size of the rectagular sole. | |
| virtual void | setSoleSize (const double &inLength, const double &inWidth) |
| Set size of the rectagular sole. | |
| virtual void | getAnklePositionInLocalFrame (vector3d &outCoordinates) const |
| Get position of the ankle in the foot local coordinate frame. | |
| virtual void | setAnklePositionInLocalFrame (const vector3d &inCoordinates) |
| Set position of the ankle in the foot local coordinate frame. | |
Public Member Functions inherited from CjrlFoot | |
| virtual | ~CjrlFoot () |
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.
| dynamicsJRLJapan::Foot::Foot | ( | ) |
Default constructor.
| dynamicsJRLJapan::Foot::Foot | ( | const Foot & | inFoot | ) |
|
virtual |
Destructor.
|
virtual |
Returns associated ankle.
Implements CjrlFoot.
|
virtual |
Get position of the ankle in the foot local coordinate frame.
| outCoordinates | coordinates of the ankle joint center |
Implements CjrlFoot.
|
virtual |
Get size of the rectagular sole.
| outLength | length of the sole (see Figure) |
| outWidth | width of the sole (see Figure) |
Implements CjrlFoot.
|
virtual |
Set position of the ankle in the foot local coordinate frame.
| inCoordinates | coordinates of the ankle joint center |
Implements CjrlFoot.
|
virtual |
Returns associated ankle.
Implements CjrlFoot.
|
virtual |
Set size of the rectagular sole.
| inLength | length of the sole (see Figure) |
| inWidth | width of the sole (see Figure) |
Implements CjrlFoot.