approximateIK.cpp File Reference

#include "drake/systems/plants/RigidBodyIK.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "constraint/RigidBodyConstraint.h"
#include "drake/systems/plants/IKoptions.h"
#include <math.h>
#include <set>
#include <gurobi_c++.h>

Include dependency graph for approximateIK.cpp:

Functions
template<typename DerivedA , typename DerivedB , typename DerivedC >
void	approximateIK (RigidBodyTree *model, const MatrixBase< DerivedA > &q_seed, const MatrixBase< DerivedB > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< DerivedC > *q_sol, int *INFO)
template void	approximateIK (RigidBodyTree *, const MatrixBase< Map< VectorXd >> &, const MatrixBase< Map< VectorXd >> &, const int, RigidBodyConstraint **const, const IKoptions &, MatrixBase< Map< VectorXd >> *, int *)
template void	approximateIK (RigidBodyTree *, const MatrixBase< VectorXd > &, const MatrixBase< VectorXd > &, const int, RigidBodyConstraint **const, const IKoptions &, MatrixBase< VectorXd > *, int *)

Function Documentation

void approximateIK	(	RigidBodyTree *	model,
		const MatrixBase< DerivedA > &	q_seed,
		const MatrixBase< DerivedB > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< DerivedC > *	q_sol,
		int *	INFO
	)

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Here is the caller graph for this function:

template void approximateIK	(	RigidBodyTree *	,
		const MatrixBase< Map< VectorXd >> &	,
		const MatrixBase< Map< VectorXd >> &	,
		const int	,
		RigidBodyConstraint **	const,
		const IKoptions &	,
		MatrixBase< Map< VectorXd >> *	,
		int *
	)

template void approximateIK	(	RigidBodyTree *	,
		const MatrixBase< VectorXd > &	,
		const MatrixBase< VectorXd > &	,
		const int	,
		RigidBodyConstraint **	const,
		const IKoptions &	,
		MatrixBase< VectorXd > *	,
		int *
	)