BodySchema Class Reference

a class containing all the arm information so that it can be used by the Reaching class This is a virtual class, instanciated by KChainBodySchema More...

#include <BodySchema.h>

Inheritance diagram for BodySchema:
KChainBodySchema KChainOrientationBodySchema

Public Member Functions

void SetIkTrials (int n)
virtual int GetNbJoints ()
virtual void Angle2Cart (joint_vec_t &angle, cart_vec_t &out)
virtual void Angle2Cart (cart_vec_t &out)
virtual void Jacobian (Matrix &jac)
virtual void FullJacobian (Matrix &jac)
 full jacobian for position and orientation
virtual void Jacobian (joint_vec_t &v, Matrix &jac)
virtual void Print (ostream &out) const
virtual void Load (istream &in)
virtual void Load (const char *filename)
virtual void GetAngles (joint_vec_t &angles)
virtual void GetRandomAngle (joint_vec_t &angles)
virtual void SetRandomAngle (joint_vec_t &angles)
virtual int InverseKinematics (const cart_vec_t &pos, joint_vec_t &angles)
virtual int InverseKinematics (const cart_vec_t &pos, joint_vec_t &start_angle, joint_vec_t &angles)
virtual void GetWeights (cart_vec_t &cart_weights, joint_vec_t &joint_weights)
virtual void SetAnglesInRange (joint_vec_t &angle)
float AngleInClosestRange (int i, float cand)
 param angle assumed to be in [-pi pi]
virtual void UpdateDimension ()
virtual int AnglesInRange (joint_vec_t &angles)
virtual void SetPosition (joint_vec_t &angles)
virtual void GetAnglesLowerBound (joint_vec_t &lb)
virtual void GetAnglesUpperBound (joint_vec_t &ub)
virtual void SetAnglesLowerBound (joint_vec_t &lb)
virtual void SetAnglesUpperBound (joint_vec_t &ub)
void SetAngleBounds (joint_vec_t &lb, joint_vec_t &ub)
virtual joint_vec_t & GetAnglesLowerBound ()
virtual joint_vec_t & GetAnglesUpperBound ()
virtual float CartesianDistance (cart_vec_t &p1, cart_vec_t &p2)
virtual float * Serialize (float *data, int offset)
 serializes a kinematic chain into a float array
virtual int Deserialize (const float *data, int offset)
 reads a kinematic chain from a float array
virtual int Deserialize (const float *data, int from, int to)
 reads a kinematic chain from a float array

Protected Attributes

joint_vec_t min_angle
 joint angle lower limits
joint_vec_t max_angle
 joint angle upper limits
int ik_trials

Detailed Description

a class containing all the arm information so that it can be used by the Reaching class This is a virtual class, instanciated by KChainBodySchema

Definition at line 57 of file BodySchema.h.


Member Function Documentation

virtual int BodySchema::Deserialize ( const float *  data,
int  from,
int  to 
) [inline, virtual]

reads a kinematic chain from a float array

Parameters:
from where to start reading in the data
to where to finish reading in the data
Returns:
the number of joints read

Reimplemented in KChainBodySchema.

Definition at line 141 of file BodySchema.h.

00141 {return 0;};

virtual int BodySchema::Deserialize ( const float *  data,
int  offset 
) [inline, virtual]

reads a kinematic chain from a float array

Parameters:
offset joint with which to start (for partial kinematic chain updating)

Reimplemented in KChainBodySchema.

Definition at line 134 of file BodySchema.h.

00134 {return 0;};

virtual float* BodySchema::Serialize ( float *  data,
int  offset 
) [inline, virtual]

serializes a kinematic chain into a float array

Parameters:
offset joint with which to start (for partial kinematic chain serialization)

Reimplemented in KChainBodySchema.

Definition at line 128 of file BodySchema.h.

00128 {return NULL;};


The documentation for this class was generated from the following file:
 All Data Structures Functions Variables

Generated on Wed Sep 22 16:51:26 2010 for Body_Schema_Learning by  doxygen 1.6.1