jrlDelegate::humanoidDynamicRobot Class Reference
[User Classes]

Template to implement a non abstract class describing a humanoid robot with dynamics. More...

#include <jrl/dynamics/humanoiddynamicrobot.hh>

Inheritance diagram for jrlDelegate::humanoidDynamicRobot:

[legend]

Collaboration diagram for jrlDelegate::humanoidDynamicRobot:

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List of all members.

Public Member Functions
	humanoidDynamicRobot (CjrlRobotDynamicsObjectFactory *inObjectFactory)
	humanoidDynamicRobot (humanoidDynamicRobot *inHDRNA)
	humanoidDynamicRobot ()
virtual	~humanoidDynamicRobot ()
	Destructor.
Joints specific to humanoid robots
virtual void	waist (CjrlJoint *inWaist)
	Set the pointer to the waist.
virtual CjrlJoint *	waist () const
	Get a pointer to the waist.
virtual void	chest (CjrlJoint *inChest)
	Set the pointer to the chest.
virtual CjrlJoint *	chest () const
	Get a pointer to the chest.
virtual void	leftWrist (CjrlJoint *inLeftWrist)
	Set the pointer to the left wrist joint.
virtual CjrlJoint *	leftWrist () const
	Get a pointer to the left wrist.
virtual void	rightWrist (CjrlJoint *inRightWrist)
	Set the pointer to the right wrist joint.
virtual CjrlJoint *	rightWrist () const
	Get a pointer to the right wrist.
virtual void	rightHand (CjrlHand *inRightHand)
	Set the pointer to the right hand.
virtual CjrlHand *	rightHand () const
	Get a pointer to the right hand.
virtual void	leftHand (CjrlHand *inLeftHand)
	Set the pointer to the left hand.
virtual CjrlHand *	leftHand () const
	Get a pointer to the left hand.
virtual double	getHandClench (CjrlHand *inHand)
	Get the hand clench value.
virtual bool	setHandClench (CjrlHand *inHand, double inClenchingValue)
	Set the hand clench value.
virtual void	leftAnkle (CjrlJoint *inLeftAnkle)
	Set the pointer to the left ankle joint.
virtual CjrlJoint *	leftAnkle () const
	Get a pointer to the left ankle.
virtual void	rightAnkle (CjrlJoint *inRightAnkle)
	Set the pointer to the right ankle joint.
virtual CjrlJoint *	rightAnkle () const
	Get a pointer to the right ankle.
virtual void	leftFoot (CjrlFoot *inLeftFoot)
	Set the pointer to the left foot joint.
virtual CjrlFoot *	leftFoot () const
	Get a pointer to the left foot.
virtual void	rightFoot (CjrlFoot *inRightFoot)
	Set the pointer to the right foot joint.
virtual CjrlFoot *	rightFoot () const
	Get a pointer to the right foot.
virtual void	gazeJoint (CjrlJoint *inGazeJoint)
	Set gaze joint.
virtual CjrlJoint *	gazeJoint () const
	Get gaze joint.
virtual void	gaze (const vector3d &inDirection, const vector3d &inOrigin)
	Set the gaze orientation and position in the local frame of the gaze joint.
virtual const vector3d &	gazeOrigin () const
	Get a point on the gaze straight line.
virtual const vector3d &	gazeDirection () const
	Get the direction of gaze.
Zero momentum point
@}
virtual const vector3d &	zeroMomentumPoint () const
	return the coordinates of the Zero Momentum Point.
int	dynamicsJRLJapan::parseOpenHRPVRMLFile (CjrlHumanoidDynamicRobot &ajrlHumanoidDynamicRobot, std::string &OpenHRPVRMLFile, std::string &MapJointToRankFileName, std::string &SpecificitiesFileName, std::vector< BodyGeometricalData > &VectorOfURLs, bool ReadGeometryInformation)

---

Detailed Description

Template to implement a non abstract class describing a humanoid robot with dynamics.

This template takes a class implementing the methods of the template CjrlRobotDynamicsObjectConstructor.

---

Constructor & Destructor Documentation

jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot

(

CjrlRobotDynamicsObjectFactory *

inObjectFactory

)

[inline]

jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot

(

humanoidDynamicRobot *

inHDRNA

)

[inline]

jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot

(

)

[inline]

References jrlDelegate::dynamicRobot::setDynamicRobot().

virtual jrlDelegate::humanoidDynamicRobot::~humanoidDynamicRobot

(

)

[inline, virtual]

Destructor.

---

Member Function Documentation

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::chest

(

)

const [inline, virtual]

Get a pointer to the chest.

Note:

for some humanoid robots, the waist and the chest are the same joints.

Implements CjrlHumanoidDynamicRobot.

References CjrlHumanoidDynamicRobot::chest().

virtual void jrlDelegate::humanoidDynamicRobot::chest

(

CjrlJoint *

inChest

)

[inline, virtual]

Set the pointer to the chest.

Note:

for some humanoid robots, the waist and the chest are the same joints.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::gaze	(	const vector3d &	inDirection,
		const vector3d &	inOrigin
	)			[inline, virtual]

Set the gaze orientation and position in the local frame of the gaze joint.

Returns:

inOrigin a point on the gaze straight line,

inDirection the direction of the gaze joint.

Implements CjrlHumanoidDynamicRobot.

References CjrlHumanoidDynamicRobot::gazeJoint().

virtual const vector3d& jrlDelegate::humanoidDynamicRobot::gazeDirection

(

)

const [inline, virtual]

Get the direction of gaze.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::gazeJoint

(

)

const [inline, virtual]

Get gaze joint.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::gazeJoint

(

CjrlJoint *

inGazeJoint

)

[inline, virtual]

Set gaze joint.

Note:

For most humanoid robots, the gaze joint is the head.

Implements CjrlHumanoidDynamicRobot.

References CjrlHumanoidDynamicRobot::rightFoot().

virtual const vector3d& jrlDelegate::humanoidDynamicRobot::gazeOrigin

(

)

const [inline, virtual]

Get a point on the gaze straight line.

Implements CjrlHumanoidDynamicRobot.

References CjrlHumanoidDynamicRobot::gaze().

virtual double jrlDelegate::humanoidDynamicRobot::getHandClench

(

CjrlHand *

inHand

)

[inline, virtual]

Get the hand clench value.

This is a scalar value ranging between 0 and 1 which describes the hand clench (0 for open and 1 for closed hand)

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::leftAnkle

(

)

const [inline, virtual]

Get a pointer to the left ankle.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::leftAnkle

(

CjrlJoint *

inLeftAnkle

)

[inline, virtual]

Set the pointer to the left ankle joint.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlFoot* jrlDelegate::humanoidDynamicRobot::leftFoot

(

)

const [inline, virtual]

Get a pointer to the left foot.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::leftFoot

(

CjrlFoot *

inLeftFoot

)

[inline, virtual]

Set the pointer to the left foot joint.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlHand* jrlDelegate::humanoidDynamicRobot::leftHand

(

)

const [inline, virtual]

Get a pointer to the left hand.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::leftHand

(

CjrlHand *

inLeftHand

)

[inline, virtual]

Set the pointer to the left hand.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::leftWrist

(

)

const [inline, virtual]

Get a pointer to the left wrist.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::leftWrist

(

CjrlJoint *

inLeftWrist

)

[inline, virtual]

Set the pointer to the left wrist joint.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::rightAnkle

(

)

const [inline, virtual]

Get a pointer to the right ankle.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::rightAnkle

(

CjrlJoint *

inRightAnkle

)

[inline, virtual]

Set the pointer to the right ankle joint.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlFoot* jrlDelegate::humanoidDynamicRobot::rightFoot

(

)

const [inline, virtual]

Get a pointer to the right foot.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::rightFoot

(

CjrlFoot *

inRightFoot

)

[inline, virtual]

Set the pointer to the right foot joint.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlHand* jrlDelegate::humanoidDynamicRobot::rightHand

(

)

const [inline, virtual]

Get a pointer to the right hand.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::rightHand

(

CjrlHand *

inRightHand

)

[inline, virtual]

Set the pointer to the right hand.

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::rightWrist

(

)

const [inline, virtual]

Get a pointer to the right wrist.

Implements CjrlHumanoidDynamicRobot.

virtual void jrlDelegate::humanoidDynamicRobot::rightWrist

(

CjrlJoint *

inRightWrist

)

[inline, virtual]

Set the pointer to the right wrist joint.

Implements CjrlHumanoidDynamicRobot.

virtual bool jrlDelegate::humanoidDynamicRobot::setHandClench	(	CjrlHand *	inHand,
		double	inClenchingValue
	)			[inline, virtual]

Set the hand clench value.

This is a scalar value ranging between 0 and 1 which describes the hand clench (0 for open and 1 for closed hand)

Returns:

false if parameter 2 is out of range

Implements CjrlHumanoidDynamicRobot.

virtual CjrlJoint* jrlDelegate::humanoidDynamicRobot::waist

(

)

const [inline, virtual]

Get a pointer to the waist.

Implements CjrlHumanoidDynamicRobot.

References CjrlHumanoidDynamicRobot::waist().

virtual void jrlDelegate::humanoidDynamicRobot::waist

(

CjrlJoint *

inWaist

)

[inline, virtual]

Set the pointer to the waist.

Implements CjrlHumanoidDynamicRobot.

virtual const vector3d& jrlDelegate::humanoidDynamicRobot::zeroMomentumPoint

(

)

const [inline, virtual]

return the coordinates of the Zero Momentum Point.

Implements CjrlHumanoidDynamicRobot.

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Friends And Related Function Documentation

int dynamicsJRLJapan::parseOpenHRPVRMLFile	(	CjrlHumanoidDynamicRobot &	ajrlHumanoidDynamicRobot,
		std::string &	OpenHRPVRMLFile,
		std::string &	MapJointToRankFileName,
		std::string &	SpecificitiesFileName,
		std::vector< BodyGeometricalData > &	VectorOfURLs,
		bool	ReadGeometryInformation
	)			[friend]