/usr/include/choreonoid-1.1/cnoid/src/Body/LeggedBody.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | /**
\file
\author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODY_LEGGED_BODY_H_INCLUDED
#define CNOID_BODY_LEGGED_BODY_H_INCLUDED
#include "Body.h"
#include "exportdecl.h"
namespace cnoid {
class CNOID_EXPORT LeggedBody : public Body
{
public:
LeggedBody();
virtual ~LeggedBody();
virtual BodyPtr duplicate() const;
inline int numFeet() const { return footInfos.size(); }
struct FootInfo {
Link* link;
Vector3 homeCop;
Vector3 soleCenter;
YamlMappingPtr info;
};
inline Link* footLink(int index) const { return footInfos[index].link; }
inline const FootInfo& footInfo(int index) const { return footInfos[index]; }
bool doLegIkToMoveCm(const Vector3& c, bool onlyProjectionToFloor = false);
bool setStance(double width, Link* baseLink);
Vector3 centerOfSole(int footIndex) const;
Vector3 centerOfSoles() const;
Vector3 homeCopOfSole(int footIndex) const;
Vector3 homeCopOfSoles() const;
static bool checkBodyInfoAsLeggedBody(const YamlMappingPtr info);
protected:
LeggedBody(const LeggedBody& org);
virtual void doResetInfo(const YamlMapping& info);
private:
std::vector<FootInfo> footInfos;
};
typedef boost::intrusive_ptr<LeggedBody> LeggedBodyPtr;
}
#endif
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