inverseKinBackend.h File Reference

#include <string>
#include <Eigen/StdVector>
#include <Eigen/Dense>

Include dependency graph for inverseKinBackend.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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 Eigen::MatrixBase< DerivedA > &q_seed, const Eigen::MatrixBase< DerivedB > &q_nom, int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, Eigen::MatrixBase< DerivedC > *q_sol, Eigen::MatrixBase< DerivedD > *qdot_sol, Eigen::MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
	This function is primarily documented through RigidBodyIK.h. More...
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const Eigen::MatrixBase< DerivedA > &q_seed, const Eigen::MatrixBase< DerivedB > &q_nom, int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, Eigen::MatrixBase< DerivedC > *q_sol, Eigen::MatrixBase< DerivedD > *qdot_sol, Eigen::MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)