inverseKinBackend.cpp File Reference

#include "drake/systems/plants/inverseKinBackend.h"
#include <stdexcept>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Sparse>
#include "drake/common/drake_assert.h"
#include "drake/core/Function.h"
#include "drake/core/Gradient.h"
#include "drake/math/autodiff.h"
#include "drake/solvers/Optimization.h"
#include "drake/systems/plants/constraint/RigidBodyConstraint.h"
#include "drake/systems/plants/ConstraintWrappers.h"
#include "drake/systems/plants/IKoptions.h"
#include "drake/systems/plants/RigidBodyTree.h"

Include dependency graph for inverseKinBackend.cpp:

Namespaces
	Drake
	NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file.
	Drake::systems
	Drake::systems::plants

Functions
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, 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, MatrixBase< DerivedD > *qdot_sol, MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< MatrixXd >> &q_seed, const MatrixBase< Map< MatrixXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< MatrixXd >> *q_sol, MatrixBase< Map< MatrixXd >> *qdot_sol, MatrixBase< Map< MatrixXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< MatrixXd > &q_seed, const MatrixBase< MatrixXd > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< MatrixXd > *q_sol, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< MatrixXd >> &q_seed, const MatrixBase< Map< MatrixXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< MatrixXd >> *q_sol, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, 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, MatrixBase< Map< VectorXd >> *qdot_sol, MatrixBase< Map< VectorXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, 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, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, 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, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)