inverseKin.cpp File Reference

#include "drake/systems/plants/RigidBodyIK.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "inverseKinBackend.h"

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Functions
template<typename DerivedA , typename DerivedB , typename DerivedC >
DRAKEIK_EXPORT void	inverseKin (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, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKin (RigidBodyTree *model, const MatrixBase< VectorXd > &q_seed, const MatrixBase< VectorXd > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< VectorXd > *q_sol, int *INFO, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKin (RigidBodyTree *model, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, int *INFO, vector< string > *infeasible_constraint)
IKResults	inverseKinSimple (RigidBodyTree *model, const Eigen::VectorXd &q_seed, const Eigen::VectorXd &q_nom, const std::vector< RigidBodyConstraint * > &constraint_array, const IKoptions &ikoptions)

Function Documentation

DRAKEIK_EXPORT void inverseKin	(	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,
		vector< string > *	infeasible_constraint
	)

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template DRAKEIK_EXPORT void inverseKin	(	RigidBodyTree *	model,
		const MatrixBase< VectorXd > &	q_seed,
		const MatrixBase< VectorXd > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< VectorXd > *	q_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

template DRAKEIK_EXPORT void inverseKin	(	RigidBodyTree *	model,
		const MatrixBase< Map< VectorXd >> &	q_seed,
		const MatrixBase< Map< VectorXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< VectorXd >> *	q_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

IKResults inverseKinSimple	(	RigidBodyTree *	model,
		const Eigen::VectorXd &	q_seed,
		const Eigen::VectorXd &	q_nom,
		const std::vector< RigidBodyConstraint * > &	constraint_array,
		const IKoptions &	ikoptions
	)

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