JointIK Class Reference

#include <RobotComponents/components/ReflexCombination/jointik.h>

Inheritance diagram for JointIK:

Public Member Functions
std::string	getName () const override
	JointIK (int interval)
void	reportHeadTargetChanged (const NameValueMap &targetJointAngles, const FramedPositionBasePtr &targetPosition)
void	reportJointAngles (const NameValueMap &values, bool valueChanged, const Ice::Current &c)
void	reportJointVelocities (const NameValueMap &values, bool valueChanged, const Ice::Current &c)
void	setBools (bool armar4, bool velocityBased)
void	setRobot (std::string nodeSetName, std::string headIKName, RobotStateComponentInterfacePrx robotStateComponent)
	~JointIK () override
Public Member Functions inherited from Reflex
std::map< std::string, float >	getJoints ()
float	getWeight () const
	Reflex (int interval)
void	setEnabled (bool enabled)
void	setWeight (float weight)
void	start ()
void	stop ()
virtual	~Reflex ()

Protected Member Functions
void	calc () override
void	onStop () override
Protected Member Functions inherited from Reflex
Eigen::Vector3f	quaternionToRPY (Eigen::Quaternionf q)

Additional Inherited Members
Protected Attributes inherited from Reflex
int	interval
bool	isEnabled
std::map< std::string, float >	jointAngles
std::mutex	mutex
std::string	name
IceUtil::Time	updateTime

Detailed Description

Definition at line 45 of file jointik.h.

Constructor & Destructor Documentation

JointIK()

JointIK ( int  interval )

inline

Definition at line 48 of file jointik.h.

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~JointIK()

~JointIK ( )

inlineoverride

Definition at line 53 of file jointik.h.

Member Function Documentation

calc()

void calc ( )

overrideprotectedvirtual

Implements Reflex.

Definition at line 31 of file jointik.cpp.

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getName()

std::string getName ( ) const

inlineoverridevirtual

Implements Reflex.

Definition at line 71 of file jointik.h.

onStop()

void onStop ( )

overrideprotectedvirtual

Implements Reflex.

Definition at line 158 of file jointik.cpp.

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reportHeadTargetChanged()

void reportHeadTargetChanged	(	const NameValueMap &	targetJointAngles,
		const FramedPositionBasePtr &	targetPosition
	)

Definition at line 149 of file jointik.cpp.

reportJointAngles()

void reportJointAngles	(	const NameValueMap &	values,
		bool	valueChanged,
		const Ice::Current &	c
	)

Definition at line 131 of file jointik.cpp.

reportJointVelocities()

void reportJointVelocities	(	const NameValueMap &	values,
		bool	valueChanged,
		const Ice::Current &	c
	)

Definition at line 140 of file jointik.cpp.

setBools()

void setBools	(	bool	armar4,
		bool	velocityBased
	)

Definition at line 122 of file jointik.cpp.

setRobot()

void setRobot	(	std::string	nodeSetName,
		std::string	headIKName,
		RobotStateComponentInterfacePrx	robotStateComponent
	)

Definition at line 106 of file jointik.cpp.

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The documentation for this class was generated from the following files:

• RobotComponents/components/ReflexCombination/jointik.h
• RobotComponents/components/ReflexCombination/jointik.cpp