This class represents a robot foot.
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#include <abstract-robot-dynamics/foot.hh>
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.
◆ ~CjrlFoot()
virtual CjrlFoot::~CjrlFoot |
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inlinevirtual |
◆ associatedAnkle()
virtual CjrlJoint* CjrlFoot::associatedAnkle |
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const |
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pure virtual |
Get the ankle to which the foot is attached.
◆ getAnklePositionInLocalFrame()
virtual void CjrlFoot::getAnklePositionInLocalFrame |
( |
vector3d & |
outCoordinates | ) |
const |
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pure virtual |
Get position of the ankle in the foot local coordinate frame.
- Return values
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outCoordinates | coordinates of the ankle joint center |
◆ getSoleSize()
virtual void CjrlFoot::getSoleSize |
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double & |
outLength, |
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double & |
outWidth |
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) |
| const |
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pure virtual |
Get size of the rectagular sole.
- Parameters
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outLength | length of the sole (see Figure) |
outWidth | width of the sole (see Figure) |
◆ setAnklePositionInLocalFrame()
virtual void CjrlFoot::setAnklePositionInLocalFrame |
( |
const vector3d & |
inCoordinates | ) |
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pure virtual |
Set position of the ankle in the foot local coordinate frame.
- Parameters
-
inCoordinates | coordinates of the ankle joint center |
◆ setAssociatedAnkle()
virtual void CjrlFoot::setAssociatedAnkle |
( |
CjrlJoint * |
inJoint | ) |
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pure virtual |
Set the ankle to which the hand is attached.
◆ setSoleSize()
virtual void CjrlFoot::setSoleSize |
( |
const double & |
inLength, |
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const double & |
inWidth |
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) |
| |
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pure virtual |
Set size of the rectagular sole.
- Parameters
-
inLength | length of the sole (see Figure) |
inWidth | width of the sole (see Figure) |