The SingleJoint2dUpdater class is a plugin class for the HumanMgr. It takes a 2D+rotation position and a constant height. More...

#include <single_joint_2d_updater.h>

Inheritance diagram for move3d::SingleJoint2dUpdater:

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 SingleJoint2dUpdater class is a plugin class for the HumanMgr. It takes a 2D+rotation position and a constant height.

It reads only the base position in the input and takes a "height" parameter from the settings. The human base joint (e.g. pelvis) is placed in the position "base" translated of (0,0,height).

Member Function Documentation

bool move3d::SingleJoint2dUpdater::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

Returns

Implements move3d::BaseHumanUpdater.

bool move3d::SingleJoint2dUpdater::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

Returns

Implements move3d::BaseHumanUpdater.

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

include/move3d_ros_lib/plugins/single_joint_2d_updater.h
src/plugins/single_joint_2d_updater.cpp

Public Member Functions

Detailed Description

Member Function Documentation