Build some joint masks and weighting vectors for the GIK solver. More...
#include <hpp/gik/robot/mask-factory.hh>
Public Member Functions | |
ChppGikMaskFactory (CjrlHumanoidDynamicRobot *inRobot) | |
Constructor. | |
const vectorN & | maskForJointsBetween (CjrlJoint *inStartJoint, CjrlJoint *inEndJoint) |
Get the joint mask for the given joint. | |
const vectorN & | legsMask () |
Get the joint mask for the legs. | |
const vectorN & | upperBodyMask () |
Get the joint mask for the upper body. | |
const vectorN & | leftArmMask () |
Get the joint mask for the left arm. | |
const vectorN & | rightArmMask () |
Get the joint mask for the right arm. | |
const vectorN & | 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 & | wholeBodyMask () |
Get the joint mask for the whole body. | |
const vectorN & | weightsDoubleSupport () |
Get the contribution weights of joints for the double support case. | |
const vectorN & | weightsLeftLegSupporting () |
Get the contribution weights when only the left leg is supporting. | |
const vectorN & | weightsRightLegSupporting () |
Get the contribution weights when only the right leg is supporting. | |
~ChppGikMaskFactory () | |
Destructor. |
Build some joint masks and weighting vectors for the GIK solver.
Some returned data are hardcoded for hrp2 robot.
ChppGikMaskFactory::ChppGikMaskFactory | ( | CjrlHumanoidDynamicRobot * | inRobot | ) |
Constructor.
ChppGikMaskFactory::~ChppGikMaskFactory | ( | ) |
Destructor.
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.