#include <aig/postures.hpp>
Public Member Functions | |
BipIK () | |
BipIK (const BipedSettings &configuration) | |
void | checkCompatibility () |
void | configurateLegs () |
pin::SE3 | computeBase (const xyzVector &com, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot) |
pin::SE3 | computeBase (const xyzVector &com, const RotMatrix &baseRotation) |
void | solve (const xyzVector &com, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture) |
void | solve (const xyzVector &com, const RotMatrix &baseRotation, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture) |
void | solve (const pin::SE3 &base, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture) |
void | solve (const std::array< xyzVector, 3 > &coms, const std::array< pin::SE3, 3 > &leftFeet, const std::array< pin::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt) |
void | solve (const std::array< xyzVector, 3 > &coms, const std::array< RotMatrix, 3 > &baseRotations, const std::array< pin::SE3, 3 > &leftFeet, const std::array< pin::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt) |
void | solve (const std::array< pin::SE3, 3 > &bases, const std::array< pin::SE3, 3 > &leftFeet, const std::array< pin::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt) |
Eigen::Vector2d | computeCoP (pin::Data &data, const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, bool flatHorizontalGround=true) |
Eigen::Vector2d | computeCoP (pin::Data &data, const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, const Wrench &externalWrench, bool flatHorizontalGround=true) |
Public Attributes | |
BipedSettings | info |
LegIG | leftLeg |
LegIG | rightLeg |
ArmIG | leftArm |
ArmIG | rightArm |
IK_tools::BipIK::BipIK | ( | ) |
IK_tools::BipIK::BipIK | ( | const BipedSettings & | configuration | ) |
void IK_tools::BipIK::checkCompatibility | ( | ) |
pin::SE3 IK_tools::BipIK::computeBase | ( | const xyzVector & | com, |
const pin::SE3 & | leftFoot, | ||
const pin::SE3 & | rightFoot | ||
) |
Eigen::Vector2d IK_tools::BipIK::computeCoP | ( | pin::Data & | data, |
const Eigen::VectorXd & | posture, | ||
const Eigen::VectorXd & | velocity, | ||
const Eigen::VectorXd & | acceleration, | ||
bool | flatHorizontalGround = true |
||
) |
Eigen::Vector2d IK_tools::BipIK::computeCoP | ( | pin::Data & | data, |
const Eigen::VectorXd & | posture, | ||
const Eigen::VectorXd & | velocity, | ||
const Eigen::VectorXd & | acceleration, | ||
const Wrench & | externalWrench, | ||
bool | flatHorizontalGround = true |
||
) |
void IK_tools::BipIK::configurateLegs | ( | ) |
void IK_tools::BipIK::solve | ( | const xyzVector & | com, |
const pin::SE3 & | leftFoot, | ||
const pin::SE3 & | rightFoot, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture | ||
) |
void IK_tools::BipIK::solve | ( | const xyzVector & | com, |
const RotMatrix & | baseRotation, | ||
const pin::SE3 & | leftFoot, | ||
const pin::SE3 & | rightFoot, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture | ||
) |
void IK_tools::BipIK::solve | ( | const pin::SE3 & | base, |
const pin::SE3 & | leftFoot, | ||
const pin::SE3 & | rightFoot, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture | ||
) |
void IK_tools::BipIK::solve | ( | const std::array< xyzVector, 3 > & | coms, |
const std::array< pin::SE3, 3 > & | leftFeet, | ||
const std::array< pin::SE3, 3 > & | rightFeet, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture, | ||
Eigen::VectorXd & | velocity, | ||
Eigen::VectorXd & | acceleration, | ||
const double & | dt | ||
) |
void IK_tools::BipIK::solve | ( | const std::array< xyzVector, 3 > & | coms, |
const std::array< RotMatrix, 3 > & | baseRotations, | ||
const std::array< pin::SE3, 3 > & | leftFeet, | ||
const std::array< pin::SE3, 3 > & | rightFeet, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture, | ||
Eigen::VectorXd & | velocity, | ||
Eigen::VectorXd & | acceleration, | ||
const double & | dt | ||
) |
void IK_tools::BipIK::solve | ( | const std::array< pin::SE3, 3 > & | bases, |
const std::array< pin::SE3, 3 > & | leftFeet, | ||
const std::array< pin::SE3, 3 > & | rightFeet, | ||
const Eigen::VectorXd & | q0, | ||
Eigen::VectorXd & | posture, | ||
Eigen::VectorXd & | velocity, | ||
Eigen::VectorXd & | acceleration, | ||
const double & | dt | ||
) |
BipedSettings IK_tools::BipIK::info |
ArmIG IK_tools::BipIK::leftArm |
LegIG IK_tools::BipIK::leftLeg |
ArmIG IK_tools::BipIK::rightArm |
LegIG IK_tools::BipIK::rightLeg |