#include <RobotPoseWidget.h>
Inheritance diagram for Klampt::RobotPoseWidget:
Public Types | |
| enum | { ModeNormal, ModeIKAttach, ModeIKPose, ModeIKPoseFixed, ModeIKDelete } |
Public Member Functions | |
| RobotPoseWidget (RobotModel *robot, ViewRobot *viewRobot) | |
| void | Set (RobotModel *robot, ViewRobot *viewRobot) |
| const Config & | Pose () const |
| void | SetPose (const Config &q) |
| vector< IKGoal > & | Constraints () |
| Config | Pose_Conditioned (const Config &qref) const |
| void | SetActiveDofs (const vector< int > &activeDofs) |
| Enables / disables editing certain joints. | |
| bool | FixCurrent () |
| Adds a pos/rot constraint on the currently hovered link. | |
| bool | FixCurrentPoint () |
| Adds a point constraint on the currently hovered link. | |
| bool | DeleteConstraint () |
| Deletes the currently hovered constraint or all constraints on the currently hovered link. | |
| void | SetAttachIKMode (bool) |
| Turn attach IK mode on/off. | |
| void | SetPoseIKMode (bool) |
| Turn point IK posing on/off. | |
| void | SetFixedPoseIKMode (bool) |
| Turn fixed IK posing on/off. | |
| void | SetDeleteIKMode (bool) |
| Turn delete IK widgets on/off. | |
| bool | SolveIK (int iters=0, Real tol=0) |
| Solves the current IK problem (by default uses 100 iters, tolerance 0.001) | |
| bool | SolveIKFixedBase (int iters=0, Real tol=0) |
| Solves the current IK problem with a fixed base. | |
| bool | SolveIKFixedJoint (int fixedJoint, int iters=0, Real tol=0) |
| Solves the current IK problem with a joint fixed in place. | |
| virtual void | DrawGL (Camera::Viewport &viewport) override |
| virtual bool | BeginDrag (int x, int y, Camera::Viewport &viewport, double &distance) override |
| virtual void | Drag (int dx, int dy, Camera::Viewport &viewport) override |
| virtual void | EndDrag () override |
| virtual void | Keypress (char c) override |
| void | Snapshot () |
| void | Undo () |
Public Attributes | |
| bool | useBase |
| GLDraw::TransformWidget | basePoser |
| RobotLinkPoseWidget | linkPoser |
| RobotIKPoseWidget | ikPoser |
| int | mode |
| int | attachx |
| int | attachy |
| Ray3D | attachRay |
| vector< Config > | undoConfigs |
| vector< vector< pair< int, RigidTransform > > > | undoTransforms |
Detailed Description
A widget that allows full posing and editing of the robot config including IK constraints and base motion.
Member Function Documentation
| Config Klampt::RobotPoseWidget::Pose_Conditioned | ( | const Config & | qref | ) | const |
if there are multiple solutions for the current pose, picks the one that most closely matches qref (useful for spin joints)
The documentation for this class was generated from the following file:
