dynamicsJRLJapan::Foot Class Reference
[User Classes]
#include <jrl/dynamics/foot.hh>
Inheritance diagram for dynamicsJRLJapan::Foot:
Collaboration diagram for dynamicsJRLJapan::Foot:
Public Member Functions | |
| Foot () | |
| Default constructor. | |
| Foot (const Foot &inFoot) | |
| virtual | ~Foot () |
| Destructor. | |
| virtual const CjrlJoint * | associatedAnkle () const |
| void | setAssociatedAnkle (const CjrlJoint *inAssociatedAnkle) |
| virtual void | getSoleSize (double &outLength, double &outWidth) const |
| Get size of the rectagular sole. | |
| virtual void | setSoleSize (const double &inLength, const double &inWidth) |
| Set size of the rectagular sole. | |
| virtual void | getAnklePositionInLocalFrame (vector3d &outCoordinates) const |
| Get position of the ankle in the foot local coordinate frame. | |
| virtual void | setAnklePositionInLocalFrame (const vector3d &inCoordinates) |
| Set position of the ankle in the foot local coordinate frame. | |
Detailed Description
This class represents a foot of a humanoid robot. It assumes some geometrical information available. They are described in more details in the original class jrlFoot.
Constructor & Destructor Documentation
| dynamicsJRLJapan::Foot::Foot | ( | ) |
Default constructor.
| dynamicsJRLJapan::Foot::Foot | ( | const Foot & | inFoot | ) |
| virtual dynamicsJRLJapan::Foot::~Foot | ( | ) | [virtual] |
Destructor.
Member Function Documentation
| virtual const CjrlJoint* dynamicsJRLJapan::Foot::associatedAnkle | ( | ) | const [virtual] |
Returns associated ankle.
Implements CjrlFoot.
| virtual void dynamicsJRLJapan::Foot::getAnklePositionInLocalFrame | ( | vector3d & | outCoordinates | ) | const [virtual] |
Get position of the ankle in the foot local coordinate frame.
- Return values:
-
outCoordinates coordinates of the ankle joint center
Implements CjrlFoot.
| virtual void dynamicsJRLJapan::Foot::getSoleSize | ( | double & | outLength, | |
| double & | outWidth | |||
| ) | const [virtual] |
Get size of the rectagular sole.
- Return values:
-
outLength length of the sole (see Figure) outWidth width of the sole (see Figure)
Implements CjrlFoot.
| virtual void dynamicsJRLJapan::Foot::setAnklePositionInLocalFrame | ( | const vector3d & | inCoordinates | ) | [virtual] |
Set position of the ankle in the foot local coordinate frame.
- Parameters:
-
inCoordinates coordinates of the ankle joint center
Implements CjrlFoot.
| void dynamicsJRLJapan::Foot::setAssociatedAnkle | ( | const CjrlJoint * | inAssociatedAnkle | ) | [virtual] |
Returns associated ankle.
Implements CjrlFoot.
| virtual void dynamicsJRLJapan::Foot::setSoleSize | ( | const double & | inLength, | |
| const double & | inWidth | |||
| ) | [virtual] |
Set size of the rectagular sole.
- Parameters:
-
inLength length of the sole (see Figure) inWidth width of the sole (see Figure)
Implements CjrlFoot.