ChppGikMaskFactory Class Reference

Build some joint masks and weighting vectors for the GIK solver. More...

#include <hpp/gik/robot/mask-factory.hh>

List of all members.

Public Member Functions

 ChppGikMaskFactory (CjrlHumanoidDynamicRobot *inRobot)
 Constructor.
const vectorNmaskForJointsBetween (CjrlJoint *inStartJoint, CjrlJoint *inEndJoint)
 Get the joint mask for the given joint.
const vectorNlegsMask ()
 Get the joint mask for the legs.
const vectorNupperBodyMask ()
 Get the joint mask for the upper body.
const vectorNleftArmMask ()
 Get the joint mask for the left arm.
const vectorNrightArmMask ()
 Get the joint mask for the right arm.
const vectorNcustomMask (CjrlJoint *inJoint, unsigned int rankOfFirstActivatedJoint)
 Get the joint mask for joints betwwen root and given joint, starting from joint with rank rankOfFirstActivatedJoint.
const vectorNwholeBodyMask ()
 Get the joint mask for the whole body.
const vectorNweightsDoubleSupport ()
 Get the contribution weights of joints for the double support case.
const vectorNweightsLeftLegSupporting ()
 Get the contribution weights when only the left leg is supporting.
const vectorNweightsRightLegSupporting ()
 Get the contribution weights when only the right leg is supporting.
 ~ChppGikMaskFactory ()
 Destructor.

Detailed Description

Build some joint masks and weighting vectors for the GIK solver.

Some returned data are hardcoded for hrp2 robot.


Constructor & Destructor Documentation

ChppGikMaskFactory::ChppGikMaskFactory ( CjrlHumanoidDynamicRobot *  inRobot)

Constructor.

ChppGikMaskFactory::~ChppGikMaskFactory ( )

Destructor.


Member Function Documentation

const vectorN& ChppGikMaskFactory::customMask ( CjrlJoint *  inJoint,
unsigned int  rankOfFirstActivatedJoint 
)

Get the joint mask for joints betwwen root and given joint, starting from joint with rank rankOfFirstActivatedJoint.

const vectorN& ChppGikMaskFactory::leftArmMask ( )

Get the joint mask for the left arm.

const vectorN& ChppGikMaskFactory::legsMask ( )

Get the joint mask for the legs.

const vectorN& ChppGikMaskFactory::maskForJointsBetween ( CjrlJoint *  inStartJoint,
CjrlJoint *  inEndJoint 
)

Get the joint mask for the given joint.

const vectorN& ChppGikMaskFactory::rightArmMask ( )

Get the joint mask for the right arm.

const vectorN& ChppGikMaskFactory::upperBodyMask ( )

Get the joint mask for the upper body.

const vectorN& ChppGikMaskFactory::weightsDoubleSupport ( )

Get the contribution weights of joints for the double support case.

const vectorN& ChppGikMaskFactory::weightsLeftLegSupporting ( )

Get the contribution weights when only the left leg is supporting.

const vectorN& ChppGikMaskFactory::weightsRightLegSupporting ( )

Get the contribution weights when only the right leg is supporting.

const vectorN& ChppGikMaskFactory::wholeBodyMask ( )

Get the joint mask for the whole body.