IK_tools::BipIK Class Reference

#include <aig/postures.hpp>

Collaboration diagram for IK_tools::BipIK:

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

Constructor & Destructor Documentation

BipIK() [1/2]

IK_tools::BipIK::BipIK

(

)

BipIK() [2/2]

IK_tools::BipIK::BipIK

(

const BipedSettings &

configuration

)

Member Function Documentation

checkCompatibility()

void IK_tools::BipIK::checkCompatibility

(

)

computeBase() [1/2]

pin::SE3 IK_tools::BipIK::computeBase	(	const xyzVector &	com,
		const pin::SE3 &	leftFoot,
		const pin::SE3 &	rightFoot
	)

computeBase() [2/2]

pin::SE3 IK_tools::BipIK::computeBase	(	const xyzVector &	com,
		const RotMatrix &	baseRotation
	)

computeCoP() [1/2]

Eigen::Vector2d IK_tools::BipIK::computeCoP	(	pin::Data &	data,
		const Eigen::VectorXd &	posture,
		const Eigen::VectorXd &	velocity,
		const Eigen::VectorXd &	acceleration,
		bool	flatHorizontalGround = true
	)

computeCoP() [2/2]

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
	)

configurateLegs()

void IK_tools::BipIK::configurateLegs

(

)

solve() [1/6]

void IK_tools::BipIK::solve	(	const pin::SE3 &	base,
		const pin::SE3 &	leftFoot,
		const pin::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture
	)

solve() [2/6]

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
	)

solve() [3/6]

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
	)

solve() [4/6]

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
	)

solve() [5/6]

void IK_tools::BipIK::solve	(	const xyzVector &	com,
		const pin::SE3 &	leftFoot,
		const pin::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture
	)

solve() [6/6]

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
	)

Member Data Documentation

info

BipedSettings IK_tools::BipIK::info

leftArm

ArmIG IK_tools::BipIK::leftArm

leftLeg

LegIG IK_tools::BipIK::leftLeg

rightArm

ArmIG IK_tools::BipIK::rightArm

rightLeg

LegIG IK_tools::BipIK::rightLeg

---

The documentation for this class was generated from the following files:

• include/aig/postures.hpp
• src/postures.cpp