This class represents a robot foot. More...
#include <abstract-robot-dynamics/foot.hh>
Public Member Functions | |
virtual | ~CjrlFoot () |
Destructor. More... | |
virtual CjrlJoint * | associatedAnkle () 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... | |
This class represents a robot foot.
It is assumed that
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inlinevirtual |
Destructor.
References associatedAnkle(), getAnklePositionInLocalFrame(), getSoleSize(), setAnklePositionInLocalFrame(), setAssociatedAnkle(), and setSoleSize().
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pure virtual |
Get the ankle to which the foot is attached.
Referenced by ~CjrlFoot().
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pure virtual |
Get position of the ankle in the foot local coordinate frame.
outCoordinates | coordinates of the ankle joint center |
Referenced by ~CjrlFoot().
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pure virtual |
Get size of the rectagular sole.
outLength | length of the sole (see Figure) |
outWidth | width of the sole (see Figure) |
Referenced by ~CjrlFoot().
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pure virtual |
Set position of the ankle in the foot local coordinate frame.
inCoordinates | coordinates of the ankle joint center |
Referenced by ~CjrlFoot().
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pure virtual |
Set the ankle to which the hand is attached.
Referenced by ~CjrlFoot().
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pure virtual |
Set size of the rectagular sole.
inLength | length of the sole (see Figure) |
inWidth | width of the sole (see Figure) |
Referenced by ~CjrlFoot().