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gait::AbstractPose Struct Reference

Data struct that encompasses the abstract representation of a robot pose. More...

#include <gait_abstract_pose.h>

Public Member Functions

 AbstractPose ()
 Default constructor.
 
void reset ()
 Reset function.
 
void setLinkLengths (double legLinkLength, double armLinkLength)
 Set the arm and leg link lengths used for pose conversions.
 
void setFromJointPose (const JointPose &pose)
 Set the abstract pose to a given joint pose.
 
void setFromInversePose (const InversePose &pose)
 Set the abstract pose to a given inverse pose.
 
void setLegsFromJointPose (const JointLegPose &left, const JointLegPose &right)
 Set the abstract leg poses to given joint poses.
 
void setLegsFromInversePose (const InverseLegPose &left, const InverseLegPose &right)
 Set the abstract leg poses to given inverse poses.
 
void setArmsFromJointPose (const JointArmPose &left, const JointArmPose &right)
 Set the abstract arm poses to given joint poses.
 
void setArmsFromInversePose (const InverseArmPose &left, const InverseArmPose &right)
 Set the abstract arm poses to given inverse poses.
 

Public Attributes

AbstractLegPose leftLeg
 Abstract pose of the left leg.
 
AbstractLegPose rightLeg
 Abstract pose of the right leg.
 
AbstractArmPose leftArm
 Abstract pose of the left arm.
 
AbstractArmPose rightArm
 Abstract pose of the right arm.
 

Detailed Description

Data struct that encompasses the abstract representation of a robot pose.

The correct value of the link lengths must be set only if a pose conversion function involving the inverse pose representation is used.

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