solver-kine.cpp File Reference
#include <sot/core/debug.hh>
#include <exception>
#include <sot-dyninv/solver-kine.h>
#include <sot-dyninv/commands-helper.h>
#include <dynamic-graph/factory.h>
#include <boost/foreach.hpp>
#include <dynamic-graph/pool.h>
#include <soth/HCOD.hpp>
#include <sot-dyninv/task-dyn-pd.h>
#include <sot/core/feature-point6d.hh>
#include <sstream>
#include <soth/Algebra.hpp>
#include <Eigen/QR>
#include <sys/time.h>
Include dependency graph for solver-kine.cpp:

Namespaces

namespace  soth
namespace  dynamicgraph
 

This class proposes to integrate the acceleration given in input to produce both velocity and acceleration.


namespace  dynamicgraph::sot
namespace  dynamicgraph::sot::dyninv

Defines

#define COLS_Q   leftCols( nbDofs )
#define COLS_TAU   leftCols( nbDofs+ntau ).rightCols( ntau )
#define COLS_F   rightCols( nfs )

Functions

Bound & soth::operator-= (Bound &xb, const double &)
const Bound soth::operator- (const Bound &a, const Bound &b)
static bool dynamicgraph::sot::dyninv::isLH (boost::shared_ptr< soth::Stage > s)
static bool dynamicgraph::sot::dyninv::isRH (boost::shared_ptr< soth::Stage > s)
 dynamicgraph::sot::dyninv::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SolverKine,"SolverKine")

Define Documentation

#define COLS_F   rightCols( nfs )
#define COLS_Q   leftCols( nbDofs )
#define COLS_TAU   leftCols( nbDofs+ntau ).rightCols( ntau )