CjrlFoot Class Reference

This class represents a robot foot. More...

#include <abstract-robot-dynamics/foot.hh>

List of all members.

Public Member Functions

virtual ~CjrlFoot ()
 Destructor.
virtual CjrlJointassociatedAnkle () const =0
 Get the ankle to which the foot is attached.
virtual void setAssociatedAnkle (CjrlJoint *inJoint)=0
 Set the ankle to which the hand is attached.
virtual void getSoleSize (double &outLength, double &outWidth) const =0
 Get size of the rectagular sole.
virtual void setSoleSize (const double &inLength, const double &inWidth)=0
 Set size of the rectagular sole.
virtual void getAnklePositionInLocalFrame (vector3d &outCoordinates) const =0
 Get position of the ankle in the foot local coordinate frame.
virtual void setAnklePositionInLocalFrame (const vector3d &inCoordinates)=0
 Set position of the ankle in the foot local coordinate frame.

Detailed Description

This class represents a robot foot.

It is assumed that

  • a foot is attached to the kinematic chain of the robot by a joint called ankle,
  • contact between a foot and the ground is realized by a plane rectangular surface called the sole,
  • the local frame of the foot is centered at the center of sole, x-axis pointing frontward, y-axis pointing leftward and z-axis pointing upward.

Constructor & Destructor Documentation

virtual CjrlFoot::~CjrlFoot ( ) [inline, virtual]

Destructor.


Member Function Documentation

virtual CjrlJoint* CjrlFoot::associatedAnkle ( ) const [pure virtual]

Get the ankle to which the foot is attached.

virtual void CjrlFoot::getAnklePositionInLocalFrame ( vector3d outCoordinates) const [pure virtual]

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

Return values:
outCoordinatescoordinates of the ankle joint center
virtual void CjrlFoot::getSoleSize ( double &  outLength,
double &  outWidth 
) const [pure virtual]

Get size of the rectagular sole.

Parameters:
outLengthlength of the sole (see Figure)
outWidthwidth of the sole (see Figure)
virtual void CjrlFoot::setAnklePositionInLocalFrame ( const vector3d inCoordinates) [pure virtual]

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

Parameters:
inCoordinatescoordinates of the ankle joint center
virtual void CjrlFoot::setAssociatedAnkle ( CjrlJoint inJoint) [pure virtual]

Set the ankle to which the hand is attached.

virtual void CjrlFoot::setSoleSize ( const double &  inLength,
const double &  inWidth 
) [pure virtual]

Set size of the rectagular sole.

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