CjrlFoot Class Referenceabstract

This class represents a robot foot. More...

#include <abstract-robot-dynamics/foot.hh>

Public Member Functions

virtual ~CjrlFoot ()
 Destructor. More...
 
virtual CjrlJointassociatedAnkle () const =0
 Get the ankle to which the foot is attached. More...
 
virtual void setAssociatedAnkle (CjrlJoint *inJoint)=0
 Set the ankle to which the hand is attached. More...
 
virtual void getSoleSize (double &outLength, double &outWidth) const =0
 Get size of the rectagular sole. More...
 
virtual void setSoleSize (const double &inLength, const double &inWidth)=0
 Set size of the rectagular sole. More...
 
virtual void getAnklePositionInLocalFrame (vector3d &outCoordinates) const =0
 Get position of the ankle in the foot local coordinate frame. More...
 
virtual void setAnklePositionInLocalFrame (const vector3d &inCoordinates)=0
 Set position of the ankle in the foot local coordinate frame. More...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ ~CjrlFoot()

virtual CjrlFoot::~CjrlFoot ( )
inlinevirtual

Member Function Documentation

◆ associatedAnkle()

virtual CjrlJoint* CjrlFoot::associatedAnkle ( ) const
pure virtual

Get the ankle to which the foot is attached.

Referenced by ~CjrlFoot().

◆ getAnklePositionInLocalFrame()

virtual void CjrlFoot::getAnklePositionInLocalFrame ( vector3d outCoordinates) const
pure virtual

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

Return values
outCoordinatescoordinates of the ankle joint center

Referenced by ~CjrlFoot().

◆ getSoleSize()

virtual void CjrlFoot::getSoleSize ( double &  outLength,
double &  outWidth 
) const
pure virtual

Get size of the rectagular sole.

Parameters
outLengthlength of the sole (see Figure)
outWidthwidth of the sole (see Figure)

Referenced by ~CjrlFoot().

◆ setAnklePositionInLocalFrame()

virtual void CjrlFoot::setAnklePositionInLocalFrame ( const vector3d inCoordinates)
pure virtual

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

Parameters
inCoordinatescoordinates of the ankle joint center

Referenced by ~CjrlFoot().

◆ setAssociatedAnkle()

virtual void CjrlFoot::setAssociatedAnkle ( CjrlJoint inJoint)
pure virtual

Set the ankle to which the hand is attached.

Referenced by ~CjrlFoot().

◆ setSoleSize()

virtual void CjrlFoot::setSoleSize ( const double &  inLength,
const double &  inWidth 
)
pure virtual

Set size of the rectagular sole.

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

Referenced by ~CjrlFoot().