leg_ig.hpp File Reference

Class to perform inverse geometry on a robot leg. More...

#include <Eigen/Dense>
#include "pinocchio/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"

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Classes
struct	aig::LegIGSettings
class	aig::LegIG

Namespaces
	aig

Typedefs
typedef Eigen::Matrix< double, 6, 1 >	aig::LegJoints

Detailed Description

Class to perform inverse geometry on a robot leg.

Authors

Nahuel Villa, Maximilien Naveau

Copyright

Copyright (c) 2022 LAAS-CNRS, TOWARD, PAL_ROBOTICS License BSD-2