gait::JointPose Struct Reference

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

#include <gait_joint_pose.h>

Public Member Functions
	JointPose ()
	Default constructor.
void	reset ()
	Reset function.
void	setLinkLengths (double legLinkLength, double armLinkLength)
	Set the arm and leg link lengths used for pose conversions.
void	setFromInversePose (const InversePose &pose)
	Set the joint pose to a given inverse pose.
void	setFromAbstractPose (const AbstractPose &pose)
	Set the joint pose to a given abstract pose.
void	setLegsFromInversePose (const InverseLegPose &left, const InverseLegPose &right)
	Set the joint leg poses to given inverse poses.
void	setLegsFromAbstractPose (const AbstractLegPose &left, const AbstractLegPose &right)
	Set the joint leg poses to given abstract poses.
void	setArmsFromInversePose (const InverseArmPose &left, const InverseArmPose &right)
	Set the joint arm poses to given inverse poses.
void	setArmsFromAbstractPose (const AbstractArmPose &left, const AbstractArmPose &right)
	Set the joint arm poses to given abstract poses.
void	readJointPosArray (const double(&pos)[NUM_JOINTS])
	Set the joint pose to the values specified by a given joint position array.
void	readJointEffortArray (const double(&effort)[NUM_JOINTS])
	Set the joint efforts to the values specified by a given joint effort array.
void	writeJointPosArray (double(&pos)[NUM_JOINTS]) const
	Transcribe the stored joint pose to a joint position array.
void	writeJointEffortArray (double(&effort)[NUM_JOINTS]) const
	Transcribe the stored joint efforts to a joint effort array.
void	blendTowards (const JointPose &other, double b)
	Blend this joint pose towards another one by a given blending factor (b: 0 = Pose remains unchanged, 1 = Pose becomes other, (0,1) = Blending by linear interpolation between this and other)

Public Attributes
JointLegPose	leftLeg
	Joint pose of the left leg.
JointLegPose	rightLeg
	Joint pose of the right leg.
JointArmPose	leftArm
	Joint pose of the left arm.
JointArmPose	rightArm
	Joint pose of the right arm.

Detailed Description

Data struct that encompasses the joint 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.

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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_joint_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_joint_pose.cpp