dynamicsJRLJapan::Foot Class Reference

#include <jrl/dynamics/foot.hh>

Inheritance diagram for dynamicsJRLJapan::Foot:
Collaboration diagram for dynamicsJRLJapan::Foot:

List of all members.

Public Member Functions

 Foot ()
 Default constructor.
 Foot (const Foot &inFoot)
virtual ~Foot ()
 Destructor.
virtual CjrlJointassociatedAnkle () 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.

Detailed Description

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.


Constructor & Destructor Documentation

dynamicsJRLJapan::Foot::Foot ( )

Default constructor.

dynamicsJRLJapan::Foot::Foot ( const Foot inFoot)
virtual dynamicsJRLJapan::Foot::~Foot ( ) [virtual]

Destructor.


Member Function Documentation

virtual CjrlJoint* dynamicsJRLJapan::Foot::associatedAnkle ( ) const [virtual]

Returns associated ankle.

Implements CjrlFoot.

virtual void dynamicsJRLJapan::Foot::getAnklePositionInLocalFrame ( vector3d outCoordinates) const [virtual]

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

Return values:
outCoordinatescoordinates of the ankle joint center

Implements CjrlFoot.

virtual void dynamicsJRLJapan::Foot::getSoleSize ( double &  outLength,
double &  outWidth 
) const [virtual]

Get size of the rectagular sole.

Return values:
outLengthlength of the sole (see Figure)
outWidthwidth of the sole (see Figure)

Implements CjrlFoot.

virtual void dynamicsJRLJapan::Foot::setAnklePositionInLocalFrame ( const vector3d inCoordinates) [virtual]

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

Parameters:
inCoordinatescoordinates of the ankle joint center

Implements CjrlFoot.

void dynamicsJRLJapan::Foot::setAssociatedAnkle ( CjrlJoint inAssociatedAnkle) [virtual]

Returns associated ankle.

Implements CjrlFoot.

virtual void dynamicsJRLJapan::Foot::setSoleSize ( const double &  inLength,
const double &  inWidth 
) [virtual]

Set size of the rectagular sole.

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

Implements CjrlFoot.