#include <aig/postures.hpp>
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| BipedIK () |
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legJoints | solveLeg (const pin::SE3 &com, const pin::SE3 &foot, const Side &side) const |
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Eigen::VectorXd | computePosture (const pin::SE3 &com, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot, Eigen::VectorXd q) |
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void | setRootOrientation (pin::SE3 &com, const pin::SE3 &leftFoot, const pin::SE3 &rightFoot) |
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void | computeJointDerivatives (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, const Eigen::VectorXd &q3, const double dt) |
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◆ BipedIK()
IK_tools::BipedIK::BipedIK |
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◆ computeJointDerivatives()
void IK_tools::BipedIK::computeJointDerivatives |
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const Eigen::VectorXd & |
q1, |
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const Eigen::VectorXd & |
q2, |
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const Eigen::VectorXd & |
q3, |
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const double |
dt |
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◆ computePosture()
Eigen::VectorXd IK_tools::BipedIK::computePosture |
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const pin::SE3 & |
com, |
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const pin::SE3 & |
leftFoot, |
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const pin::SE3 & |
rightFoot, |
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Eigen::VectorXd |
q |
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◆ setRootOrientation()
void IK_tools::BipedIK::setRootOrientation |
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pin::SE3 & |
com, |
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const pin::SE3 & |
leftFoot, |
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const pin::SE3 & |
rightFoot |
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◆ solveLeg()
legJoints IK_tools::BipedIK::solveLeg |
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const pin::SE3 & |
com, |
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const pin::SE3 & |
foot, |
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const Side & |
side |
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Eigen::VectorXd IK_tools::BipedIK::a |
◆ comFromWaist
◆ model
pin::Model IK_tools::BipedIK::model |
Eigen::VectorXd IK_tools::BipedIK::q |
◆ q0
Eigen::VectorXd IK_tools::BipedIK::q0 |
Eigen::VectorXd IK_tools::BipedIK::v |
The documentation for this class was generated from the following files: