KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
KinematicChain2DTemplate< Link > Class Template Reference
Inheritance diagram for KinematicChain2DTemplate< Link >:
Chain

Public Member Functions

void Initialize (int numLinks)
 
virtual std::string LinkName (int i) const
 
bool InJointLimits (const Vector &q) const
 
void UpdateFrames ()
 
void GetWorldPosition (const Vector2 &pi, int i, Vector2 &p) const
 
void GetWorldRotation (int i, Real &theta) const
 
void GetWorldVelocity (const Vector2 &pi, int i, const Vector &dq, Vector2 &dp) const
 
void GetWorldAngularVelocity (int i, const Vector &dq, Real &dtheta) const
 
bool GetJacobian (const Vector2 &pi, int i, int j, Real &dw, Vector2 &dv) const
 
bool GetOrientationJacobian (int i, int j, Real &dw) const
 
bool GetPositionJacobian (const Vector2 &pi, int i, int j, Vector2 &dv) const
 
void GetFullJacobian (const Vector2 &pi, int i, Matrix &J) const
 
void GetPositionJacobian (const Vector2 &pi, int i, Matrix &J) const
 
- Public Member Functions inherited from Chain
bool HasValidOrdering () const
 
bool IsAncestor (int n, int p) const
 Returns true if p is an ancestor of n.
 
bool IsDescendent (int n, int c) const
 Returns true if c is a descendant of n.
 
int LCA (int a, int b) const
 Least common ancestor.
 
void GetChildList (std::vector< std::vector< int > > &children) const
 Returns a vector where element i is a vectors of the children of link i.
 
void GetAncestors (int k, std::vector< bool > &ancestors) const
 Returns a vector where element i is true if it is an ancestor of n.
 
void GetDescendants (int k, std::vector< bool > &descendants) const
 Returns a vector where element i is true if it is an descendant of n.
 

Public Attributes

std::vector< Link > links
 
Vector q
 
Vector qMin
 
Vector qMax
 
- Public Attributes inherited from Chain
std::vector< int > parents
 Topologically sorted list of parents.
 

Additional Inherited Members

- Public Types inherited from Chain
enum  { NoParent = -1 }
 

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