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| Puma () |
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virtual | ~Puma () |
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virtual Kinematics * | clone () const |
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Arm | getArm () const |
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Elbow | getElbow () const |
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Wrist | getWrist () const |
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bool | inversePosition (const ::rl::math::Transform &t,::rl::math::Vector &q, const ::std::size_t &iterations=1000) |
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bool | isSingular () const |
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void | parameters (const ::rl::math::Vector &q, Arm &arm, Elbow &elbow, Wrist &wrist) const |
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void | setArm (const Arm &arm) |
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void | setElbow (const Elbow &elbow) |
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void | setWrist (const Wrist &wrist) |
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| Kinematics () |
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virtual | ~Kinematics () |
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bool | areColliding (const ::std::size_t &i, const ::std::size_t &j) const |
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virtual void | clip (::rl::math::Vector &q) const |
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virtual ::rl::math::Real | distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
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virtual const
::rl::math::Transform & | forwardPosition (const ::std::size_t &i=0) const |
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virtual void | forwardForce (const ::rl::math::Vector &tau,::rl::math::Vector &f) const |
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virtual void | forwardVelocity (const ::rl::math::Vector &qdot,::rl::math::Vector &xdot) const |
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::std::size_t | getBodies () const |
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::std::size_t | getDof () const |
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const ::rl::math::Transform & | getFrame (const ::std::size_t &i) const |
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const ::rl::math::Matrix & | getJacobian () const |
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const ::rl::math::Matrix & | getJacobianInverse () const |
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::rl::math::Real | getManipulabilityMeasure () const |
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::std::string | getManufacturer () const |
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::rl::math::Real | getMaximum (const ::std::size_t &i) const |
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void | getMaximum (::rl::math::Vector &max) const |
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::rl::math::Real | getMinimum (const ::std::size_t &i) const |
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void | getMinimum (::rl::math::Vector &min) const |
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::std::string | getName () const |
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::std::size_t | getOperationalDof () const |
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void | getPosition (::rl::math::Vector &q) const |
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::rl::math::Real | getSpeed (const ::std::size_t &i) const |
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void | getSpeed (::rl::math::Vector &speed) const |
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Type | getType (const ::std::size_t &i) |
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virtual void | interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha,::rl::math::Vector &q) const |
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virtual void | inverseForce (const ::rl::math::Vector &f,::rl::math::Vector &tau) const |
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virtual ::rl::math::Real | inverseOfTransformedDistance (const ::rl::math::Real &d) const |
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virtual void | inverseVelocity (const ::rl::math::Vector &xdot,::rl::math::Vector &qdot) const |
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bool | isColliding (const ::std::size_t &i) const |
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virtual bool | isValid (const ::rl::math::Vector &q) const |
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virtual ::rl::math::Real | maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
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virtual ::rl::math::Real | minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
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virtual ::rl::math::Real | minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const |
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virtual ::rl::math::Real | newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const |
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void | setColliding (const ::std::size_t &i, const bool &doesCollide) |
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void | setColliding (const ::std::size_t &i, const ::std::size_t &j, const bool &doCollide) |
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void | setPosition (const ::rl::math::Vector &q) |
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virtual void | step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot,::rl::math::Vector &q2) const |
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::rl::math::Transform & | tool (const ::std::size_t &i=0) |
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const ::rl::math::Transform & | tool (const ::std::size_t &i=0) const |
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virtual ::rl::math::Real | transformedDistance (const ::rl::math::Real &d) const |
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virtual ::rl::math::Real | transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
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virtual void | updateFrames () |
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virtual void | updateJacobian () |
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virtual void | updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) |
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::rl::math::Transform & | world () |
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const ::rl::math::Transform & | world () const |
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static Kinematics * | create (const ::std::string &filename) |
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typedef
::boost::adjacency_list
< ::boost::vecS,::boost::vecS,::boost::bidirectionalS,::boost::shared_ptr
< Frame >,::boost::shared_ptr
< Transform >
,::boost::no_property,::boost::vecS > | Tree |
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typedef ::boost::graph_traits
< Tree >::edge_descriptor | Edge |
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typedef ::boost::graph_traits
< Tree >::edge_iterator | EdgeIterator |
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typedef ::std::pair
< EdgeIterator, EdgeIterator > | EdgeIteratorPair |
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typedef ::boost::graph_traits
< Tree >::in_edge_iterator | InEdgeIterator |
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typedef ::std::pair
< InEdgeIterator,
InEdgeIterator > | InEdgeIteratorPair |
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typedef ::boost::graph_traits
< Tree >::out_edge_iterator | OutEdgeIterator |
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typedef ::std::pair
< OutEdgeIterator,
OutEdgeIterator > | OutEdgeIteratorPair |
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typedef ::boost::graph_traits
< Tree >::vertex_descriptor | Vertex |
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typedef ::boost::graph_traits
< Tree >::vertex_iterator | VertexIterator |
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typedef ::std::pair
< VertexIterator,
VertexIterator > | VertexIteratorPair |
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void | update () |
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void | update (Vertex &u) |
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::std::vector< Element * > | elements |
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::std::vector< Frame * > | frames |
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::std::vector< Vertex > | leaves |
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::std::vector< Link * > | links |
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::rl::math::Matrix | jacobian |
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::rl::math::Matrix | jacobianInverse |
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::std::vector< Joint * > | joints |
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::std::string | manufacturer |
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::std::string | name |
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Vertex | root |
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::std::vector< Edge > | tools |
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::std::vector< Transform * > | transforms |
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Tree | tree |
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