Esempi in C++ (Cpp) per checkMatchJointConf

Esempio n. 1

File: FK.cpp Progetto: bchretien/RBDyn

void sForwardKinematics(const MultiBody& mb, MultiBodyConfig& mbc)
{
	checkMatchQ(mb, mbc);

	checkMatchBodyPos(mb, mbc);
	checkMatchJointConf(mb, mbc);
	checkMatchParentToSon(mb, mbc);

	forwardKinematics(mb, mbc);
}

Esempio n. 2

File: IK.cpp Progetto: aescande/RBDyn

bool InverseKinematics::sInverseKinematics(const MultiBody& mb, MultiBodyConfig& mbc,
					   const sva::PTransformd& ef_target)
{
	checkMatchQ(mb, mbc);
	checkMatchBodyPos(mb, mbc);
	checkMatchJointConf(mb, mbc);
	checkMatchParentToSon(mb, mbc);

	return inverseKinematics(mb, mbc, ef_target);
}

Esempio n. 3

File: FV.cpp Progetto: aescande/RBDyn

void sForwardVelocity(const MultiBody& mb, MultiBodyConfig& mbc)
{
	checkMatchAlpha(mb, mbc);
	checkMatchBodyPos(mb, mbc);
	checkMatchJointConf(mb, mbc);
	checkMatchParentToSon(mb, mbc);

	checkMatchBodyVel(mb, mbc);
	checkMatchJointVelocity(mb, mbc);
	checkMatchMotionSubspace(mb, mbc);

	forwardVelocity(mb, mbc);
}