gait::InversePose Struct Reference

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

#include <gait_inverse_pose.h>

Public Member Functions
	InversePose ()
	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 inverse pose to a given joint pose.
void	setFromAbstractPose (const AbstractPose &pose)
	Set the inverse pose to a given abstract pose.
void	setLegsFromJointPose (const JointLegPose &left, const JointLegPose &right)
	Set the inverse leg poses to given joint poses.
void	setLegsFromAbstractPose (const AbstractLegPose &left, const AbstractLegPose &right)
	Set the inverse leg poses to given abstract poses.
void	setArmsFromJointPose (const JointArmPose &left, const JointArmPose &right)
	Set the inverse arm poses to given joint poses.
void	setArmsFromAbstractPose (const AbstractArmPose &left, const AbstractArmPose &right)
	Set the inverse arm poses to given abstract poses.

Public Attributes
InverseLegPose	leftLeg
	Inverse pose of the left leg.
InverseLegPose	rightLeg
	Inverse pose of the right leg.
InverseArmPose	leftArm
	Inverse pose of the left arm.
InverseArmPose	rightArm
	Inverse pose of the right arm.

Detailed Description

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

The correct value of the link lengths must be set only if the pose conversion functions are used.

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

• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/include/gait/util/gait_inverse_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_inverse_pose.cpp