Choreonoid  1.5
Public Member Functions | List of all members
cnoid::PoseSeqInterpolator Class Reference

#include <PoseSeqInterpolator.h>

Inheritance diagram for cnoid::PoseSeqInterpolator:
cnoid::PoseProvider

Public Member Functions

 PoseSeqInterpolator ()
 
void setBody (Body *body)
 
Bodybody () const
 
void setLinearInterpolationJoint (int jointId)
 
void addFootLink (int linkIndex, const Vector3 &soleCenter)
 
void setLipSyncShapes (const Mapping &info)
 
const std::vector< int > & lipSyncLinkIndices ()
 
void setPoseSeq (PoseSeqPtr seq)
 
void setTimeScaleRatio (double ratio)
 
double beginningTime () const
 
double endingTime () const
 
void enableStealthyStepMode (bool on)
 
void setStealthyStepParameters (double heightRatioThresh, double flatLiftingHeight, double flatLandingHeight, double impactReductionHeight, double impactReductionTime)
 
void enableAutoZmpAdjustmentMode (bool on)
 
void setZmpAdjustmentParameters (double minTransitionTime, double centeringTimeThresh, double timeMarginBeforeLifting, double maxDistanceFromCenter)
 
void enableLipSyncMix (bool on)
 
void setAutoUpdateMode (bool on)
 
bool update ()
 
SignalProxy< void()> sigUpdated ()
 
bool interpolate (double time)
 
bool interpolate (double time, int waistLinkIndex, const Vector3 &waistTranslation)
 
virtual bool seek (double time)
 
virtual bool seek (double time, int waistLinkIndex, const Vector3 &waistTranslation)
 
int baseLinkIndex () const
 
virtual bool getBaseLinkPosition (Position &out_T) const
 
boost::optional< double > jointPosition (int jointId) const
 
boost::optional< Vector3ZMP () const
 
virtual void getJointPositions (std::vector< boost::optional< double > > &out_q) const
 
- Public Member Functions inherited from cnoid::PoseProvider
virtual ~PoseProvider ()
 

Constructor & Destructor Documentation

◆ PoseSeqInterpolator()

PoseSeqInterpolator::PoseSeqInterpolator ( )

Member Function Documentation

◆ addFootLink()

void PoseSeqInterpolator::addFootLink ( int  linkIndex,
const Vector3 soleCenter 
)

◆ baseLinkIndex()

int PoseSeqInterpolator::baseLinkIndex ( ) const
virtual
Returns
-1 if base link is not set for the time segment

Implements cnoid::PoseProvider.

◆ beginningTime()

double PoseSeqInterpolator::beginningTime ( ) const
virtual

Implements cnoid::PoseProvider.

◆ body()

Body * PoseSeqInterpolator::body ( ) const
virtual

Implements cnoid::PoseProvider.

◆ enableAutoZmpAdjustmentMode()

void PoseSeqInterpolator::enableAutoZmpAdjustmentMode ( bool  on)

◆ enableLipSyncMix()

void PoseSeqInterpolator::enableLipSyncMix ( bool  on)

◆ enableStealthyStepMode()

void PoseSeqInterpolator::enableStealthyStepMode ( bool  on)

◆ endingTime()

double PoseSeqInterpolator::endingTime ( ) const
virtual

Implements cnoid::PoseProvider.

◆ getBaseLinkPosition()

bool PoseSeqInterpolator::getBaseLinkPosition ( Position out_T) const
virtual

Implements cnoid::PoseProvider.

◆ getJointPositions()

void PoseSeqInterpolator::getJointPositions ( std::vector< boost::optional< double > > &  out_q) const
virtual

Implements cnoid::PoseProvider.

◆ interpolate() [1/2]

bool PoseSeqInterpolator::interpolate ( double  time)

◆ interpolate() [2/2]

bool PoseSeqInterpolator::interpolate ( double  time,
int  waistLinkIndex,
const Vector3 waistTranslation 
)
Parameters
waistLinkIndexA link that is translated for maintaing the dynamic balance
waistTranslationtranslation of the balancing link usually provided by the waist balance filter

◆ jointPosition()

boost::optional< double > PoseSeqInterpolator::jointPosition ( int  jointId) const

◆ lipSyncLinkIndices()

const std::vector< int > & PoseSeqInterpolator::lipSyncLinkIndices ( )

◆ seek() [1/2]

bool PoseSeqInterpolator::seek ( double  time)
virtual

Implements cnoid::PoseProvider.

◆ seek() [2/2]

bool PoseSeqInterpolator::seek ( double  time,
int  waistLinkIndex,
const Vector3 waistTranslation 
)
virtual

A virtual function of the WaistTranslator interface

Implements cnoid::PoseProvider.

◆ setAutoUpdateMode()

void cnoid::PoseSeqInterpolator::setAutoUpdateMode ( bool  on)

This function has not been implemented yet.

◆ setBody()

void PoseSeqInterpolator::setBody ( Body body)

◆ setLinearInterpolationJoint()

void PoseSeqInterpolator::setLinearInterpolationJoint ( int  jointId)

◆ setLipSyncShapes()

void PoseSeqInterpolator::setLipSyncShapes ( const Mapping info)

◆ setPoseSeq()

void PoseSeqInterpolator::setPoseSeq ( PoseSeqPtr  seq)

◆ setStealthyStepParameters()

void PoseSeqInterpolator::setStealthyStepParameters ( double  heightRatioThresh,
double  flatLiftingHeight,
double  flatLandingHeight,
double  impactReductionHeight,
double  impactReductionTime 
)

◆ setTimeScaleRatio()

void PoseSeqInterpolator::setTimeScaleRatio ( double  ratio)

◆ setZmpAdjustmentParameters()

void PoseSeqInterpolator::setZmpAdjustmentParameters ( double  minTransitionTime,
double  centeringTimeThresh,
double  timeMarginBeforeLifting,
double  maxDistanceFromCenter 
)

◆ sigUpdated()

SignalProxy< void()> PoseSeqInterpolator::sigUpdated ( )

◆ update()

bool PoseSeqInterpolator::update ( )

◆ ZMP()

boost::optional< Vector3 > PoseSeqInterpolator::ZMP ( ) const
virtual

Implements cnoid::PoseProvider.


The documentation for this class was generated from the following files: