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 <sot-dyninv/mal-to-eigen.h>
#include <sys/time.h>
Include dependency graph for solver-kine.cpp:

Namespaces

 soth
 
 dynamicgraph
 This class proposes to integrate the acceleration given in input to produce both velocity and acceleration.
 
 dynamicgraph::sot
 
 dynamicgraph::sot::dyninv
 

Macros

#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")
 

Macro Definition Documentation

◆ COLS_F

#define COLS_F   rightCols( nfs )

◆ COLS_Q

#define COLS_Q   leftCols( nbDofs )

◆ COLS_TAU

#define COLS_TAU   leftCols( nbDofs+ntau ).rightCols( ntau )