Abstract class describing a humanoid robot with dynamics. More...
#include <abstract-robot-dynamics/humanoid-dynamic-robot.hh>
Public Member Functions | |
virtual | ~CjrlHumanoidDynamicRobot () |
Destructor. | |
Joints specific to humanoid robots | |
virtual void | waist (CjrlJoint *inWaist)=0 |
Set the pointer to the waist. | |
virtual CjrlJoint * | waist () const =0 |
Get a pointer to the waist. | |
virtual void | chest (CjrlJoint *inChest)=0 |
Set the pointer to the chest. | |
virtual CjrlJoint * | chest () const =0 |
Get a pointer to the chest. | |
virtual void | leftWrist (CjrlJoint *inLefWrist)=0 |
Set the pointer to the left wrist joint. | |
virtual CjrlJoint * | leftWrist () const =0 |
Get a pointer to the left wrist. | |
virtual void | rightWrist (CjrlJoint *inRightWrist)=0 |
Set the pointer to the right wrist joint. | |
virtual CjrlJoint * | rightWrist () const =0 |
Get a pointer to the right wrist. | |
virtual void | rightHand (CjrlHand *inRightHand)=0 |
Set the pointer to the right hand. | |
virtual CjrlHand * | rightHand () const =0 |
Get a pointer to the right hand. | |
virtual void | leftHand (CjrlHand *inLeftHand)=0 |
Set the pointer to the left hand. | |
virtual CjrlHand * | leftHand () const =0 |
Get a pointer to the left hand. | |
virtual double | getHandClench (CjrlHand *inHand)=0 |
Get the hand clench value. | |
virtual bool | setHandClench (CjrlHand *inHand, double inClenchingValue)=0 |
Set the hand clench value. | |
virtual void | leftAnkle (CjrlJoint *inLefAnkle)=0 |
Set the pointer to the left ankle joint. | |
virtual CjrlJoint * | leftAnkle () const =0 |
Get a pointer to the left ankle. | |
virtual void | rightAnkle (CjrlJoint *inRightAnkle)=0 |
Set the pointer to the right ankle joint. | |
virtual CjrlJoint * | rightAnkle () const =0 |
Get a pointer to the right ankle. | |
virtual void | leftFoot (CjrlFoot *inLeftFoot)=0 |
Set the pointer to the left foot joint. | |
virtual CjrlFoot * | leftFoot () const =0 |
Get a pointer to the left foot. | |
virtual void | rightFoot (CjrlFoot *inRightFoot)=0 |
Set the pointer to the right foot joint. | |
virtual CjrlFoot * | rightFoot () const =0 |
Get a pointer to the right foot. | |
virtual void | gazeJoint (CjrlJoint *inGazeJoint)=0 |
Set gaze joint. | |
virtual CjrlJoint * | gazeJoint () const =0 |
Get gaze joint. | |
virtual void | gaze (const vector3d &inDirection, const vector3d &inOrigin)=0 |
Set the gaze orientation and position in the local frame of the gaze joint. | |
virtual const vector3d & | gazeOrigin () const =0 |
Get a point on the gaze straight line. | |
virtual const vector3d & | gazeDirection () const =0 |
Get the direction of gaze. | |
Zero momentum point | |
virtual const vector3d & | zeroMomentumPoint () const =0 |
return the coordinates of the Zero Momentum Point. |
Abstract class describing a humanoid robot with dynamics.
This class derives for CjrlDynamicRobot and instantiate properties specific to humanoid robots.
virtual CjrlHumanoidDynamicRobot::~CjrlHumanoidDynamicRobot | ( | ) | [inline, virtual] |
Destructor.
virtual void CjrlHumanoidDynamicRobot::chest | ( | CjrlJoint * | inChest | ) | [pure virtual] |
Set the pointer to the chest.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::chest | ( | ) | const [pure virtual] |
Get a pointer to the chest.
virtual void CjrlHumanoidDynamicRobot::gaze | ( | const vector3d & | inDirection, |
const vector3d & | inOrigin | ||
) | [pure virtual] |
Set the gaze orientation and position in the local frame of the gaze joint.
virtual const vector3d& CjrlHumanoidDynamicRobot::gazeDirection | ( | ) | const [pure virtual] |
Get the direction of gaze.
virtual void CjrlHumanoidDynamicRobot::gazeJoint | ( | CjrlJoint * | inGazeJoint | ) | [pure virtual] |
Set gaze joint.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::gazeJoint | ( | ) | const [pure virtual] |
Get gaze joint.
virtual const vector3d& CjrlHumanoidDynamicRobot::gazeOrigin | ( | ) | const [pure virtual] |
Get a point on the gaze straight line.
virtual double CjrlHumanoidDynamicRobot::getHandClench | ( | CjrlHand * | inHand | ) | [pure virtual] |
Get the hand clench value.
This is a scalar value ranging between 0 and 1 which describes the hand clench (0 for open and 1 for closed hand)
virtual void CjrlHumanoidDynamicRobot::leftAnkle | ( | CjrlJoint * | inLefAnkle | ) | [pure virtual] |
Set the pointer to the left ankle joint.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::leftAnkle | ( | ) | const [pure virtual] |
Get a pointer to the left ankle.
virtual void CjrlHumanoidDynamicRobot::leftFoot | ( | CjrlFoot * | inLeftFoot | ) | [pure virtual] |
Set the pointer to the left foot joint.
virtual CjrlFoot* CjrlHumanoidDynamicRobot::leftFoot | ( | ) | const [pure virtual] |
Get a pointer to the left foot.
virtual void CjrlHumanoidDynamicRobot::leftHand | ( | CjrlHand * | inLeftHand | ) | [pure virtual] |
Set the pointer to the left hand.
virtual CjrlHand* CjrlHumanoidDynamicRobot::leftHand | ( | ) | const [pure virtual] |
Get a pointer to the left hand.
virtual void CjrlHumanoidDynamicRobot::leftWrist | ( | CjrlJoint * | inLefWrist | ) | [pure virtual] |
Set the pointer to the left wrist joint.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::leftWrist | ( | ) | const [pure virtual] |
Get a pointer to the left wrist.
virtual void CjrlHumanoidDynamicRobot::rightAnkle | ( | CjrlJoint * | inRightAnkle | ) | [pure virtual] |
Set the pointer to the right ankle joint.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::rightAnkle | ( | ) | const [pure virtual] |
Get a pointer to the right ankle.
virtual void CjrlHumanoidDynamicRobot::rightFoot | ( | CjrlFoot * | inRightFoot | ) | [pure virtual] |
Set the pointer to the right foot joint.
virtual CjrlFoot* CjrlHumanoidDynamicRobot::rightFoot | ( | ) | const [pure virtual] |
Get a pointer to the right foot.
virtual void CjrlHumanoidDynamicRobot::rightHand | ( | CjrlHand * | inRightHand | ) | [pure virtual] |
Set the pointer to the right hand.
virtual CjrlHand* CjrlHumanoidDynamicRobot::rightHand | ( | ) | const [pure virtual] |
Get a pointer to the right hand.
virtual void CjrlHumanoidDynamicRobot::rightWrist | ( | CjrlJoint * | inRightWrist | ) | [pure virtual] |
Set the pointer to the right wrist joint.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::rightWrist | ( | ) | const [pure virtual] |
Get a pointer to the right wrist.
virtual bool CjrlHumanoidDynamicRobot::setHandClench | ( | CjrlHand * | inHand, |
double | inClenchingValue | ||
) | [pure virtual] |
Set the hand clench value.
This is a scalar value ranging between 0 and 1 which describes the hand clench (0 for open and 1 for closed hand)
virtual void CjrlHumanoidDynamicRobot::waist | ( | CjrlJoint * | inWaist | ) | [pure virtual] |
Set the pointer to the waist.
virtual CjrlJoint* CjrlHumanoidDynamicRobot::waist | ( | ) | const [pure virtual] |
Get a pointer to the waist.
virtual const vector3d& CjrlHumanoidDynamicRobot::zeroMomentumPoint | ( | ) | const [pure virtual] |
return the coordinates of the Zero Momentum Point.