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| LeggedBody () |
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virtual | ~LeggedBody () |
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virtual BodyPtr | duplicate () const |
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int | numFeet () const |
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Link * | footLink (int index) const |
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const FootInfo & | footInfo (int index) const |
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bool | doLegIkToMoveCm (const Vector3 &c, bool onlyProjectionToFloor=false) |
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bool | setStance (double width, Link *baseLink) |
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Vector3 | centerOfSole (int footIndex) const |
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Vector3 | centerOfSoles () const |
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Vector3 | homeCopOfSole (int footIndex) const |
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Vector3 | homeCopOfSoles () const |
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基底クラス cnoid::Body に属する継承公開メンバ関数 |
| Body () |
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virtual | ~Body () |
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const std::string & | name () |
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void | setName (const std::string &name) |
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const std::string & | modelName () |
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void | setModelName (const std::string &name) |
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void | setRootLink (Link *link) |
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void | updateLinkTree () |
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int | numJoints () const |
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Link * | joint (int id) const |
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const std::vector< Link * > & | joints () const |
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int | numLinks () const |
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Link * | link (int index) const |
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const LinkTraverse & | links () const |
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const LinkTraverse & | linkTraverse () const |
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Link * | link (const std::string &name) const |
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Link * | rootLink () const |
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Sensor * | createSensor (Link *link, int sensorType, int id, const std::string &name) |
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void | addSensor (Sensor *sensor, int sensorType, int id) |
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Sensor * | sensor (int sensorType, int sensorId) const |
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int | numSensors (int sensorType) const |
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int | numSensorTypes () const |
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void | clearSensorValues () |
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template<class TSensor > |
TSensor * | sensor (int id) const |
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template<class TSensor > |
TSensor * | sensor (const std::string &name) const |
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bool | isStaticModel () |
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double | calcTotalMass () |
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double | totalMass () const |
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Vector3 | calcCM () |
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const Vector3 & | lastCM () |
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void | calcTotalMomentum (Vector3 &out_P, Vector3 &out_L) |
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void | setDefaultRootPosition (const Vector3 &p, const Matrix3 &R) |
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void | getDefaultRootPosition (Vector3 &out_p, Matrix3 &out_R) |
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void | initializeConfiguration () |
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void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) |
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void | clearExternalForces () |
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JointPathPtr | getJointPath (Link *baseLink, Link *targetLink) |
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void | setVirtualJointForces () |
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virtual InverseKinematicsPtr | getDefaultIK (Link *targetLink) |
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void | updateLinkColdetModelPositions () |
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void | putInformation (std::ostream &out) |
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bool | installCustomizer () |
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bool | installCustomizer (BodyCustomizerInterface *customizerInterface) |
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YamlMapping * | info () |
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void | resetInfo (YamlMappingPtr info) |
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LinkGroup * | linkGroup () |
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| Referenced () |
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virtual | ~Referenced () |
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