Package | Description |
---|---|
magma.agent.agentmodel | |
magma.agent.agentmodel.ik | |
magma.agent.agentmodel.ik.impl | |
magma.agent.agentmodel.impl | |
magma.robots.nao.agentmodel.ik.impl |
Modifier and Type | Method and Description |
---|---|
IBodyPart |
IBodyModel.getBodyPart(java.lang.String name) |
IBodyPart |
IAgentModel.getBodyPart(java.lang.String name) |
IBodyPart |
IBodyPart.getBodyPart(java.lang.String name) |
IBodyPart |
IAgentModel.getBodyPartContainingCamera()
Returns the body part (of the sensed body model), which contains the
camera.
|
IBodyPart |
IBodyPart.getChild(java.lang.String name) |
IBodyPart |
IBodyPart.getParent()
Get parent BodyPart
|
IBodyPart |
IBodyModel.getTorso() |
IBodyPart |
IAgentModel.getTorso()
Returns the root body part of the sensed body model.
|
Modifier and Type | Method and Description |
---|---|
java.util.Collection<IBodyPart> |
IBodyPart.getChildren()
A collection of the child body parts to this body part.
|
Modifier and Type | Method and Description |
---|---|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] |
IBodyModel.getCorners(IBodyPart part)
Get the position of the corners of the given BodyPart relative to the
torso center.
|
void |
IBodyPart.updateJointsSpeed(IBodyPart part)
Deep update of joint's desired speed from the passed body part.
|
Modifier and Type | Method and Description |
---|---|
boolean |
IAgentIKSolver.solve(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles)
Solve the IK for a specific body part and the given target pose.
|
Modifier and Type | Method and Description |
---|---|
boolean |
JacobianTransposeAgentIKSolver.solve(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles) |
Modifier and Type | Method and Description |
---|---|
IBodyPart |
AgentModel.getBodyPart(java.lang.String name) |
IBodyPart |
AgentModel.getBodyPartContainingCamera() |
IBodyPart |
AgentModel.getTorso() |
Modifier and Type | Method and Description |
---|---|
static double[] |
NAOLegCalculator.calculateJointAngles(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPos,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles) |
static double[] |
NAOLegCalculator.getChangeAngles(IBodyPart targetBody,
double[] angles,
boolean scaled) |
boolean |
NAOLegCalculator.solve(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles) |