#include <jrl/dynamics/foot.hh>
Public Member Functions | |
Foot () | |
Default constructor. More... | |
Foot (const Foot &inFoot) | |
virtual | ~Foot () |
Destructor More... | |
virtual CjrlJoint * | associatedAnkle () const |
void | setAssociatedAnkle (CjrlJoint *inAssociatedAnkle) |
virtual void | getSoleSize (double &outLength, double &outWidth) const |
Get size of the rectagular sole More... | |
virtual void | setSoleSize (const double &inLength, const double &inWidth) |
Set size of the rectagular sole More... | |
virtual void | getAnklePositionInLocalFrame (vector3d &outCoordinates) const |
Get position of the ankle in the foot local coordinate frame. More... | |
virtual void | setAnklePositionInLocalFrame (const vector3d &inCoordinates) |
Set position of the ankle in the foot local coordinate frame. More... | |
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virtual | ~CjrlFoot () |
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.
dynamicsJRLJapan::Foot::Foot | ( | ) |
Default constructor.
dynamicsJRLJapan::Foot::Foot | ( | const Foot & | inFoot | ) |
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Destructor
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Returns associated ankle.
Implements CjrlFoot.
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Get position of the ankle in the foot local coordinate frame.
outCoordinates | coordinates of the ankle joint center |
Implements CjrlFoot.
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Get size of the rectagular sole
outLength | length of the sole (see Figure) |
outWidth | width of the sole (see Figure) |
Implements CjrlFoot.
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Set position of the ankle in the foot local coordinate frame.
inCoordinates | coordinates of the ankle joint center |
Implements CjrlFoot.
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Returns associated ankle.
Implements CjrlFoot.
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Set size of the rectagular sole
inLength | length of the sole (see Figure) |
inWidth | width of the sole (see Figure) |
Implements CjrlFoot.