14 #include <Eigen/Dense>
16 #include "pinocchio/fwd.hpp"
17 #include "pinocchio/spatial/se3.hpp"
35 out <<
"LegIGSettings:\n"
37 <<
" knee_from_hip: " << obj.
knee_from_hip.transpose() <<
"\n"
62 Eigen::Vector3d hip_, ankle_, hip_from_ankle_;
64 double q2_, q3_, q4_, q5_, q6_, q7_;
65 double opp_sign_hip_from_waist_y_, sign_hip_from_ankle_z;
67 Eigen::Matrix3d Rint_, Rext_, R_;
77 const pinocchio::SE3 &endEffector);
Definition: leg_ig.hpp:57
const LegIGSettings & get_settings()
Definition: leg_ig.hpp:74
LegJoints solve(const pinocchio::SE3 &base, const pinocchio::SE3 &endEffector)
Definition: leg_ig.cpp:32
void reset_internals()
Definition: leg_ig.cpp:20
LegIG()
Definition: leg_ig.cpp:11
void initialize(const LegIGSettings &settings)
Definition: leg_ig.cpp:15
Definition: arm_ig.hpp:18
Eigen::Matrix< double, 6, 1 > LegJoints
Definition: leg_ig.hpp:22
Definition: leg_ig.hpp:27
Eigen::Vector3d ankle_from_foot
Definition: leg_ig.hpp:32
friend std::ostream & operator<<(std::ostream &out, const LegIGSettings &obj)
Definition: leg_ig.hpp:34
Eigen::Vector3d knee_from_hip
Definition: leg_ig.hpp:30
Eigen::Vector3d ankle_from_knee
Definition: leg_ig.hpp:31
friend bool operator==(const LegIGSettings &lhs, const LegIGSettings &rhs)
Definition: leg_ig.hpp:44
Eigen::Vector3d hip_from_waist
Definition: leg_ig.hpp:29