The HeadHandUpdater class updates base, hand and head. More...

Inheritance diagram for move3d::HeadHandUpdater:

Public Member Functions
virtual bool	update (Robot *h, const Eigen::Affine3d &base, const std::map< std::string, Eigen::Affine3d > &joints, const HumanSettings &settings)
	update the robot with the given elements More...

virtual bool	computeConf (Robot *h, const Eigen::Affine3d &base, const std::map< std::string, Eigen::Affine3d > &joints, const HumanSettings &settings, RobotState &q)
	compute the configuration without updating the human in move3d More...

Detailed Description

The HeadHandUpdater class updates base, hand and head.

Todo:: the names are hard coded. move3d joints: base_torso, torso_head, right_hand_joint input link positions: base, head, rightHand

Member Function Documentation

bool move3d::HeadHandUpdater::computeConf	(	Robot *	h,
		const Eigen::Affine3d &	base,
		const std::map< std::string, Eigen::Affine3d > &	joints,
		const HumanSettings &	settings,
		RobotState &	q
	)

virtual

compute the configuration without updating the human in move3d

Parameters

[in]	h	Robot object representing the human in move3d
[in]	base	base position
[in]	joints	joint positions
[in]	settings	settings for that human
[out]	q	the computed configuration

bool move3d::HeadHandUpdater::update	(	Robot *	h,
		const Eigen::Affine3d &	base,
		const std::map< std::string, Eigen::Affine3d > &	joints,
		const HumanSettings &	settings
	)

virtual

update the robot with the given elements

Parameters

h	the Robot object representing the human in move3d
base	the base position
joints	the joint positions
settings	settings for that human

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